CN117849818B - Unmanned aerial vehicle positioning method and device based on laser radar and electronic equipment - Google Patents
Unmanned aerial vehicle positioning method and device based on laser radar and electronic equipment Download PDFInfo
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Abstract
Unmanned aerial vehicle positioning method, device and electronic equipment based on laser radar, relate to unmanned aerial vehicle positioning field; the method comprises the following steps: transmitting a laser beam to a preset calibration point through laser radar equipment in response to the operation of acquiring the current positioning, wherein the laser radar equipment is carried on the unmanned plane; acquiring distance measurement time, wherein the distance measurement time is the time taken by a laser beam from emission to reaching a preset calibration point; acquiring the laser beam speed, and obtaining a relative distance according to the laser beam speed and the distance measurement time, wherein the relative distance is the distance between a preset calibration point and the unmanned aerial vehicle; acquiring preset calibration coordinates, namely acquiring unmanned aerial vehicle coordinates according to the preset calibration coordinates and the relative distance, wherein the preset calibration coordinates are coordinates of preset calibration points, and the unmanned aerial vehicle coordinates and the preset calibration coordinates are in the same coordinate system; and displaying the unmanned aerial vehicle coordinates to a user. By implementing the technical scheme provided by the application, the problem of lower indoor positioning accuracy of the unmanned aerial vehicle can be solved.
Description
Technical Field
The application relates to the field of unmanned aerial vehicle positioning, in particular to an unmanned aerial vehicle positioning method and device based on a laser radar and electronic equipment.
Background
With the continuous development of unmanned aerial vehicle technology, unmanned aerial vehicles are increasingly widely applied in a plurality of fields.
In an indoor environment, as satellite signals are shielded by a building, the positioning accuracy of satellite navigation systems such as GPS and the like can be greatly influenced, and the requirements of high-accuracy positioning application scenes can not be met; the positioning method based on vision is also a common mode, and the positioning of the unmanned aerial vehicle is realized by arranging a vision sensor in an indoor environment and utilizing technologies such as vision feature matching or deep learning, but the accuracy of the method can be interfered by factors such as illumination conditions, target shielding, and the like, so that the positioning is inaccurate, namely the problem of lower indoor positioning accuracy of the unmanned aerial vehicle exists.
Therefore, there is a need for a laser radar-based unmanned aerial vehicle positioning method, device and electronic equipment.
Disclosure of Invention
The application provides an unmanned aerial vehicle positioning method and device based on a laser radar and electronic equipment, which can solve the problem of low indoor positioning accuracy of an unmanned aerial vehicle.
The application provides a laser radar-based unmanned aerial vehicle positioning method in a first aspect, which comprises the following steps: in response to an operation of acquiring the current positioning, transmitting a laser beam to a preset calibration point through a laser radar device, wherein the preset calibration point comprises a first calibration point, a second calibration point and a third calibration point, and the laser radar device is mounted on the unmanned plane; acquiring ranging time, wherein the ranging time is the time taken by a laser beam to reach a preset calibration point from the emission of the laser beam, and the ranging time comprises a first ranging time, a second ranging time and a third ranging time; acquiring the laser beam speed, and obtaining a relative distance according to the laser beam speed and the distance measurement time, wherein the relative distance is the distance between a preset calibration point and the unmanned aerial vehicle, and comprises a first relative distance, a second relative distance and a third relative distance; acquiring preset calibration coordinates, namely acquiring unmanned aerial vehicle coordinates according to the preset calibration coordinates and the relative distance, wherein the preset calibration coordinates are coordinates of preset calibration points, and comprise a first calibration coordinate, a second calibration coordinate and a third calibration coordinate, and the unmanned aerial vehicle coordinates and the preset calibration coordinates are in the same coordinate system; and displaying the unmanned aerial vehicle coordinates to a user.
Through adopting above-mentioned technical scheme, the server is through laser radar equipment to three default calibration point emission laser beam range finding, obtains first relative distance, second relative distance and third relative distance, and rethread obtains the coordinate of three default calibration points, combines relative distance to obtain the position that current unmanned aerial vehicle is located, i.e. unmanned aerial vehicle coordinate, and this process does not rely on positioning technology such as GPS, but through measuring the distance of three calibration points and knowing the coordinate of three calibration points to obtain unmanned aerial vehicle current location accurately, has improved unmanned aerial vehicle indoor location's rate of accuracy.
Optionally, after emitting the laser beam to the preset calibration point by the laser radar device in response to the operation of acquiring the current positioning, the method further comprises: judging whether the laser beam returns to the laser radar device; if the laser beam does not return to the laser radar equipment, determining that the laser beam is blocked, and judging whether coordinates obtained when the laser beam is not blocked exist according to a preset historical flight coordinate library; if the coordinates obtained when the laser beam is not blocked by the historical flight coordinate inventory are preset, acquiring historical standard coordinates and a movement time period, wherein the movement time period is a time period from the acquisition time of the historical standard coordinates to the current time; acquiring a historical displacement vector corresponding to a motion time period from a preset displacement database; and acquiring the unmanned plane coordinates according to the historical displacement vector and the historical standard coordinates.
By adopting the technical scheme, the server judges whether the laser is blocked when the laser is used for positioning by judging whether the return laser beam is received or not; when blocked, the server takes the coordinates of the historical flight coordinate library when the laser beam is not blocked as a reference, namely historical standard coordinates; acquiring a movement time period, and further acquiring the displacement of the unmanned aerial vehicle in the movement time period according to the movement time period; combining the displacement and the historical standard coordinates, and calculating the current coordinates of the unmanned aerial vehicle, namely the unmanned aerial vehicle coordinates; through the mode, the situation that the unmanned aerial vehicle cannot accurately or precisely acquire the unmanned aerial vehicle coordinates because laser is shielded is avoided, and the accuracy and the efficiency of acquiring the unmanned aerial vehicle coordinates are improved.
Optionally, after acquiring the preset calibration coordinates and acquiring the unmanned aerial vehicle coordinates according to the preset calibration coordinates and the relative distance, the method further includes: acquiring a ranging offset vector corresponding to the ranging time from a preset displacement database, wherein the ranging offset vector is the displacement of the unmanned aerial vehicle in the ranging time; acquiring correction coordinates according to the unmanned aerial vehicle coordinates and the ranging offset vector; and taking the corrected coordinates as unmanned plane coordinates.
Through adopting above-mentioned technical scheme, the server can correct unmanned aerial vehicle coordinate according to unmanned aerial vehicle's displacement in the range finding time, has compensatied unmanned aerial vehicle when transmitting laser beam and reaching the calibration point, and the error that the position takes place to change has improved unmanned aerial vehicle coordinate's degree of accuracy promptly.
Optionally, after presenting the drone coordinates to the user, the method further comprises: obtaining standard coordinates corresponding to the current moment in a preset route database, wherein the preset route database comprises a corresponding relation between time and coordinates in a planned route, the standard coordinates are coordinates in the planned route, and the standard coordinates and the unmanned aerial vehicle coordinates are coordinates in the same coordinate system; judging whether the standard coordinates are consistent with the unmanned plane coordinates; if the standard coordinates are inconsistent with the unmanned aerial vehicle coordinates, determining that the unmanned aerial vehicle deviates from the planned route currently; and displaying the prompting information of the unmanned aerial vehicle deviating from the planned route to a user.
By adopting the technical scheme, the server firstly acquires the standard coordinates corresponding to the current moment in the preset route database, namely, the position of the current unmanned aerial vehicle under the ideal condition is determined; and comparing the standard coordinates with the acquired unmanned aerial vehicle coordinates to judge whether the unmanned aerial vehicle deviates from the planned route, and when the unmanned aerial vehicle deviates from the planned route, the server can display the information to the user so as to assist the user in making further decisions.
Optionally, after presenting the drone coordinates to the user, the method further comprises: acquiring environment image information through a camera device, wherein the camera device is carried on an unmanned aerial vehicle, the environment image information is an image in a preset volume range, and the unmanned aerial vehicle is positioned in the center of the preset volume range; judging whether personnel exist in the environment image information according to a preset image recognition algorithm; and if the personnel exist in the environment image information, displaying the prompt information of the personnel existing near the unmanned aerial vehicle to the user.
By adopting the technical scheme, the server firstly acquires the environmental image information around the unmanned aerial vehicle, then judges whether personnel exist according to the environmental image information, and displays the information of the personnel existing near the unmanned aerial vehicle to the user under the condition that the personnel exist so as to prompt the user that the laser beam emitted by the unmanned aerial vehicle possibly damages the personnel at present; i.e. the probability of laser injury to the person can be reduced.
Optionally, after presenting the drone coordinates to the user, the method further comprises: acquiring the current residual electric quantity of the unmanned aerial vehicle; judging whether the current residual electric quantity is smaller than a first electric quantity threshold value and larger than a second electric quantity threshold value, wherein the first electric quantity threshold value is larger than the second electric quantity threshold value; if the current residual electric quantity is smaller than the first electric quantity threshold value and larger than the second electric quantity threshold value, starting an intermittent laser positioning mode; judging whether the current residual electric quantity is smaller than or equal to a second electric quantity threshold value or not; if the current residual electric quantity is smaller than or equal to the second electric quantity threshold value, the laser positioning system is closed, and prompt information of insufficient electric quantity of the unmanned aerial vehicle is displayed to a user.
By adopting the technical scheme, the server judges whether the current residual electric quantity of the unmanned aerial vehicle is sufficient or not through the first electric quantity threshold value and the second electric quantity threshold value, and when the current residual electric quantity is smaller than the first electric quantity threshold value and larger than the second electric quantity threshold value, the server can determine that the current electric quantity of the unmanned aerial vehicle is smaller, so that an intermittent laser positioning mode is started to reduce electric quantity consumption, the unmanned aerial vehicle can have electric quantity to use on the fly, and further, a user can be helped to recycle the unmanned aerial vehicle; when the current residual electric quantity is smaller than or equal to the second electric quantity threshold value, the server can determine that the current electric quantity of the unmanned aerial vehicle is too small, and prompt the user to timely recycle the unmanned aerial vehicle by displaying information of insufficient electric quantity of the unmanned aerial vehicle to the user so as to avoid the situation that the unmanned aerial vehicle directly crashes due to insufficient electric quantity.
Optionally, displaying the unmanned aerial vehicle coordinates to the user specifically includes: converting the unmanned aerial vehicle coordinates into map display coordinates in a map coordinate system; marking the map display coordinates on a preset map interface, and displaying the preset map interface to a user; in response to the operation of checking the flight track of a user, marking map display coordinates in a preset time period on a preset map interface, and drawing the map display coordinates as the flight track; and displaying the flight path to a user.
Through adopting above-mentioned technical scheme, the server can be with the unmanned aerial vehicle coordinate transformation that obtains under the map coordinate system to make unmanned aerial vehicle coordinate demonstrate more directly perceivedly on the map interface, with the flight condition of auxiliary user confirmation unmanned aerial vehicle.
The application provides an unmanned aerial vehicle positioning device based on laser radar in a second aspect, which comprises an acquisition unit and a processing unit;
An acquisition unit configured to acquire a ranging time, which is a time taken for a laser beam to reach a preset calibration point from emission, the ranging time including a first ranging time, a second ranging time, and a third ranging time; the laser beam distance measuring device is also used for obtaining the laser beam speed, and obtaining a relative distance according to the laser beam speed and the distance measuring time, wherein the relative distance is the distance between a preset calibration point and the unmanned aerial vehicle, and comprises a first relative distance, a second relative distance and a third relative distance; the method is further used for obtaining preset calibration coordinates, the unmanned aerial vehicle coordinates are obtained according to the preset calibration coordinates and the relative distance, the preset calibration coordinates are coordinates of preset calibration points, the preset calibration coordinates comprise a first calibration coordinate, a second calibration coordinate and a third calibration coordinate, and the unmanned aerial vehicle coordinates and the preset calibration coordinates are in the same coordinate system.
The processing unit is used for responding to the operation of acquiring the current positioning, emitting laser beams to preset calibration points through the laser radar equipment, wherein the preset calibration points comprise a first calibration point, a second calibration point and a third calibration point, and the laser radar equipment is mounted on the unmanned plane; and is also used for displaying the unmanned aerial vehicle coordinates to the user.
The present application provides in a third aspect an electronic device comprising a processor, a memory for storing instructions, a user interface and a network interface for communicating with other devices, the processor for executing instructions stored in the memory to cause the electronic device to perform any one of the possible implementations of the first aspect or the first aspect as above.
The present application provides in a fourth aspect a computer readable storage medium storing a computer program for execution by a processor as described above or any one of the possible implementations of the first aspect.
In summary, one or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:
1. the server transmits laser beams to three preset calibration points through the laser radar equipment to measure the distance to obtain a first relative distance, a second relative distance and a third relative distance, and obtains the position of the current unmanned aerial vehicle through obtaining the coordinates of the three preset calibration points and combining the relative distances, namely the coordinates of the unmanned aerial vehicle, the process does not depend on positioning technologies such as GPS, but accurately obtains the current position of the unmanned aerial vehicle through measuring the distances of the three calibration points and knowing the coordinates of the three calibration points, and the indoor positioning accuracy of the unmanned aerial vehicle is improved.
2. The server judges whether the laser is blocked when the laser is used for positioning by judging whether the returned laser beam is received or not; when blocked, the server takes the coordinates of the historical flight coordinate library when the laser beam is not blocked as a reference, namely historical standard coordinates; acquiring a movement time period, and further acquiring the displacement of the unmanned aerial vehicle in the movement time period according to the movement time period; combining the displacement and the historical standard coordinates, and calculating the current coordinates of the unmanned aerial vehicle, namely the unmanned aerial vehicle coordinates; through the mode, the situation that the unmanned aerial vehicle cannot accurately or precisely acquire the unmanned aerial vehicle coordinates because laser is shielded is avoided, and the accuracy and the efficiency of acquiring the unmanned aerial vehicle coordinates are improved.
3. The server judges whether the current residual electric quantity of the unmanned aerial vehicle is sufficient or not through the first electric quantity threshold value and the second electric quantity threshold value, when the current residual electric quantity is smaller than the first electric quantity threshold value and larger than the second electric quantity threshold value, the server can determine that the current electric quantity of the unmanned aerial vehicle is smaller, so that an intermittent laser positioning mode is started, electric quantity consumption is reduced, the unmanned aerial vehicle can have electric quantity to use on the flight, and further, a user can be helped to recycle the unmanned aerial vehicle; when the current residual electric quantity is smaller than or equal to the second electric quantity threshold value, the server can determine that the current electric quantity of the unmanned aerial vehicle is too small, and prompt the user to timely recycle the unmanned aerial vehicle by displaying information of insufficient electric quantity of the unmanned aerial vehicle to the user so as to avoid the situation that the unmanned aerial vehicle directly crashes due to insufficient electric quantity.
Drawings
Fig. 1 is a schematic flow chart of a laser radar-based unmanned aerial vehicle positioning method according to an embodiment of the present application.
Fig. 2 is a schematic block diagram of an unmanned aerial vehicle positioning device based on a laser radar according to an embodiment of the present application.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Reference numerals illustrate: 201. an acquisition unit; 202. a processing unit; 300. an electronic device; 301. a processor; 302. a communication bus; 303. a user interface; 304. a network interface; 305. a memory.
Detailed Description
In order that those skilled in the art will better understand the technical solutions in the present specification, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments.
In describing embodiments of the present application, words such as "for example" or "for example" are used to mean serving as examples, illustrations, or descriptions. Any embodiment or design described herein as "such as" or "for example" in embodiments of the application should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "or" for example "is intended to present related concepts in a concrete fashion.
In the description of embodiments of the application, the term "plurality" means two or more. For example, a plurality of systems means two or more systems, and a plurality of screen terminals means two or more screen terminals. Furthermore, 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 or implicitly indicating an indicated technical feature. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
In an indoor environment, as satellite signals are shielded by a building, the positioning accuracy of satellite navigation systems such as GPS and the like can be greatly influenced, and the requirements of high-accuracy positioning application scenes can not be met; the positioning method based on vision is also a common mode, and the positioning of the unmanned aerial vehicle is realized by arranging a vision sensor in an indoor environment and utilizing technologies such as vision feature matching or deep learning, but the accuracy of the method can be interfered by factors such as illumination conditions, target shielding, and the like, so that the positioning is inaccurate, namely the problem of lower indoor positioning accuracy of the unmanned aerial vehicle exists. Therefore, the embodiment provides a laser radar-based unmanned aerial vehicle positioning method.
The unmanned aerial vehicle positioning method based on the laser radar provided by the application can refer to fig. 1, and fig. 1 is a schematic flow chart of the unmanned aerial vehicle positioning method based on the laser radar, which is provided by the embodiment of the application, and is applied to a server. The method includes steps S101 to S105.
S101, responding to the operation of acquiring the current positioning, transmitting a laser beam to a preset calibration point through laser radar equipment, wherein the preset calibration point comprises a first calibration point, a second calibration point and a third calibration point, and the laser radar equipment is mounted on the unmanned plane.
In the steps, the server responds to the operation of a user for acquiring the current positioning of the unmanned aerial vehicle, and sends an instruction to the pre-carried laser radar equipment to enable the laser radar equipment to emit laser beams to the preset calibration points, wherein the laser radar equipment is pre-arranged on the unmanned aerial vehicle and used for real-time ranging; the preset calibration points are preset receiving points capable of receiving laser beams, the coordinates of the calibration points are known and accurate, and in addition, the three preset calibration points cannot be located on the same straight line; in this embodiment, the preset calibration points are set to three, that is, the first calibration point, the second calibration point and the third calibration point, and the staff can set a greater number of calibration points to obtain the flight coordinates according to the actual requirements, but that would increase the workload and not necessarily improve the coordinate accuracy.
In one possible embodiment, after emitting a laser beam to a preset calibration point by the lidar device in response to the operation of obtaining the current position fix, the method further comprises: judging whether the laser beam returns to the laser radar device; if the laser beam does not return to the laser radar equipment, determining that the laser beam is blocked, and judging whether coordinates obtained when the laser beam is not blocked exist according to a preset historical flight coordinate library; if the coordinates obtained when the laser beam is not blocked by the historical flight coordinate inventory are preset, acquiring historical standard coordinates and a movement time period, wherein the movement time period is a time period from the acquisition time of the historical standard coordinates to the current time; acquiring a historical displacement vector corresponding to a motion time period from a preset displacement database; and acquiring the unmanned plane coordinates according to the historical displacement vector and the historical standard coordinates.
Specifically, after the laser radar emits the laser beam to the preset calibration point, the server judges whether the laser beam is blocked by an obstacle or other objects by whether the laser beam returns, and because the scheme needs to use the laser for ranging, when the laser beam is blocked, the subsequent unmanned aerial vehicle coordinates cannot be acquired or have lower accuracy, so the embodiment provides another mode for acquiring the unmanned aerial vehicle coordinates under the condition that the laser beam is blocked, namely, the coordinate acquired when the laser beam is not blocked is used as a historical standard coordinate, the historical flight coordinate library comprises coordinate data of each moment in the flight process of the unmanned aerial vehicle, and each coordinate data has a respective acquisition mode, for example, under the condition that the laser beam is not blocked, the acquisition mode of some unmanned aerial vehicle coordinates is laser measurement acquisition, and under the condition that the laser beam is blocked, the acquisition mode of other part of unmanned aerial vehicle coordinates is calculation acquisition; in the step, the calculation is mainly performed through unmanned plane coordinates obtained through laser measurement; further, under the condition that the coordinates acquired when the laser is not blocked exist in the historical flight coordinate library, a movement time period is acquired, wherein the movement time period is the time period from the time when the historical standard coordinates are acquired to the current moment, a historical displacement vector is acquired in a preset displacement database according to the movement time period, and the displacement condition of the unmanned aerial vehicle in the flight process is pre-stored in the preset displacement database; specifically, the absolute displacement condition of the unmanned aerial vehicle is stored, and the corresponding time, for example, the position of the unmanned aerial vehicle is (0, 0) at the initial time of 0 seconds, wherein the coordinates are the coordinates on a specific coordinate system in a preset displacement database, and the coordinate system is not the coordinate system in which the flight coordinates obtained in the subsequent steps are located; at the moment of 0.2 seconds, the position of the unmanned aerial vehicle is 3,4,0, and the absolute displacement length of the unmanned aerial vehicle is 5 and the absolute displacement direction is 3,4,0 in the time period of 0 to 0.2 seconds; and then, the position of the unmanned aerial vehicle at the current moment, namely the coordinate of the unmanned aerial vehicle, can be obtained by adding the historical standard coordinate and the historical displacement vector corresponding to the motion time period.
S102, acquiring ranging time, wherein the ranging time is the time taken by the laser beam from emission to reaching a preset calibration point, and the ranging time comprises a first ranging time, a second ranging time and a third ranging time.
In the step, the server acquires the time from the emission time to the time when the laser beam reaches the preset calibration point (namely, the ranging time) so as to obtain the distance from the unmanned aerial vehicle to each preset calibration point in the subsequent step; in this embodiment, since three preset calibration points are provided, it is necessary to respectively emit laser beams to the first calibration point, the second calibration point, and the third calibration point to respectively obtain the first ranging time, the second ranging time, and the third ranging time.
S103, acquiring the laser beam speed, and obtaining a relative distance according to the laser beam speed and the distance measurement time, wherein the relative distance is the distance between a preset calibration point and the unmanned aerial vehicle, and comprises a first relative distance, a second relative distance and a third relative distance.
In the above step, the server acquires the speed of the laser beam, which is a known speed or previously measured known data; and then the distance between the unmanned aerial vehicle and the three standard points, namely the first relative distance, the second relative distance and the third relative distance, can be obtained respectively by multiplying the laser beam speed and the three distance measuring times respectively.
S104, acquiring preset calibration coordinates, namely acquiring unmanned aerial vehicle coordinates according to the preset calibration coordinates and the relative distance, wherein the preset calibration coordinates are coordinates of preset calibration points, and comprise a first calibration coordinate, a second calibration coordinate and a third calibration coordinate, and the unmanned aerial vehicle coordinates and the preset calibration coordinates are in the same coordinate system.
In the above step, the server acquires three preset calibration coordinates, namely a first calibration coordinate, a second calibration coordinate and a third calibration coordinate, and the three preset calibration coordinates are known and accurate because the preset calibration points are all set in advance, so that the three preset calibration coordinates can be directly acquired; according to three preset calibration coordinates and three relative distances, the unmanned aerial vehicle coordinates can be obtained by setting the unmanned aerial vehicle coordinates to be unknown coordinates and establishing three equation sets for solving.
For example, given that the coordinates of three preset calibration points are (0, 0), (0,2,0) and (0, 1), respectively, the distances from the three preset calibration points to the unmanned aerial vehicle are 1, 5, 1/2、21/2, respectively, and the unmanned aerial vehicle coordinates are (x, y, z), equation set ：x2+y2+z2=1;x2+（y-2）2+z2=5;x2+y2+（z-1）2=2; can be obtained to solve the unmanned aerial vehicle coordinates as (1, 0).
In one possible embodiment, after obtaining the preset calibration coordinates, and obtaining the unmanned aerial vehicle coordinates according to the preset calibration coordinates and the relative distance, the method further includes: acquiring a ranging offset vector corresponding to the ranging time from a preset displacement database, wherein the ranging offset vector is the displacement of the unmanned aerial vehicle in the ranging time; acquiring correction coordinates according to the unmanned aerial vehicle coordinates and the ranging offset vector; and taking the corrected coordinates as unmanned plane coordinates.
Specifically, the server acquires the displacement of the unmanned aerial vehicle, namely a ranging offset vector, in a preset displacement database constructed in advance, and adds the ranging offset vector and the unmanned aerial vehicle coordinate, so that the unmanned aerial vehicle coordinate can be corrected, and a new unmanned aerial vehicle coordinate is obtained; the step can compensate errors caused by displacement of the unmanned aerial vehicle during ranging, and accuracy of coordinates of the unmanned aerial vehicle is improved.
And S105, displaying the unmanned aerial vehicle coordinates to a user.
In the above step, the server displays the obtained unmanned aerial vehicle coordinates to the user.
In one possible implementation, displaying the unmanned aerial vehicle coordinates to the user specifically includes: converting the unmanned aerial vehicle coordinates into map display coordinates in a map coordinate system; marking the map display coordinates on a preset map interface, and displaying the preset map interface to a user; in response to the operation of checking the flight track of a user, marking map display coordinates in a preset time period on a preset map interface, and drawing the map display coordinates as the flight track; and displaying the flight path to a user.
Specifically, after the coordinates of the unmanned aerial vehicle are obtained, the server can more intuitively display the current position of the unmanned aerial vehicle in a form of marking on a map, specifically, the coordinates of the unmanned aerial vehicle are firstly converted into coordinates under a map coordinate system, namely, map display coordinates, then the map display coordinates are marked on a map interface, and the map interface can be displayed on terminal equipment held by a user; the server can also respond to the operation of the user for checking the flight track, the server obtains map display coordinates in a preset time period and marks the map display coordinates on a map interface for display, and the length of the preset time period can be set according to the user requirement.
In one possible embodiment, after presenting the drone coordinates to the user, the method further comprises: obtaining standard coordinates corresponding to the current moment in a preset route database, wherein the preset route database comprises a corresponding relation between time and coordinates in a planned route, the standard coordinates are coordinates in the planned route, and the standard coordinates and the unmanned aerial vehicle coordinates are coordinates in the same coordinate system; judging whether the standard coordinates are consistent with the unmanned plane coordinates; if the standard coordinates are inconsistent with the unmanned aerial vehicle coordinates, determining that the unmanned aerial vehicle deviates from the planned route currently; and displaying the prompting information of the unmanned aerial vehicle deviating from the planned route to a user.
Specifically, the server acquires standard coordinates corresponding to the current moment, namely the position where the current unmanned aerial vehicle should be located, from a preset route database; the preset route database stores the flight route of the unmanned aerial vehicle in the flight at the time, and specifically comprises a corresponding relation between standard coordinates and time points, namely, data of the position of the unmanned aerial vehicle when the unmanned aerial vehicle should be located is stored; the standard coordinates and the unmanned aerial vehicle coordinates are subjected to consistency comparison, and the unmanned aerial vehicle coordinates can be allowed to be in a certain range of the standard coordinates according to the requirements of staff; when the standard coordinates are inconsistent with the unmanned aerial vehicle coordinates, the unmanned aerial vehicle is determined to deviate from the planned route at the moment, and further, prompt information of the unmanned aerial vehicle deviating from the planned route is displayed to a user.
In one possible embodiment, after presenting the drone coordinates to the user, the method further comprises: acquiring environment image information through a camera device, wherein the camera device is carried on an unmanned aerial vehicle, the environment image information is an image in a preset volume range, and the unmanned aerial vehicle is positioned in the center of the preset volume range; judging whether personnel exist in the environment image information according to a preset image recognition algorithm; and if the personnel exist in the environment image information, displaying the prompt information of the personnel existing near the unmanned aerial vehicle to the user.
Specifically, the server can acquire environmental image information through the camera equipment, wherein the image information is image information in a certain range near the unmanned aerial vehicle, so as to judge whether personnel exist near the unmanned aerial vehicle; the certain range can be set by a worker, for example, the range can be set into a spherical area range taking the unmanned aerial vehicle as a center and taking 10m as a radius; the specific identification mode can be that whether personnel exist in a preset range or not is identified through an image identification algorithm trained in advance, the probability of laser injury can be reduced, and when personnel exist in the environment image information, prompt information of the personnel existing near the unmanned aerial vehicle is displayed to a user.
In one possible embodiment, after presenting the drone coordinates to the user, the method further comprises: acquiring the current residual electric quantity of the unmanned aerial vehicle; judging whether the current residual electric quantity is smaller than a first electric quantity threshold value and larger than a second electric quantity threshold value, wherein the first electric quantity threshold value is larger than the second electric quantity threshold value; if the current residual electric quantity is smaller than the first electric quantity threshold value and larger than the second electric quantity threshold value, starting an intermittent laser positioning mode; judging whether the current residual electric quantity is smaller than or equal to a second electric quantity threshold value or not; if the current residual electric quantity is smaller than or equal to the second electric quantity threshold value, the laser positioning system is closed, and prompt information of insufficient electric quantity of the unmanned aerial vehicle is displayed to a user.
The server obtains the current residual electric quantity of the unmanned aerial vehicle, judges whether the residual electric quantity supports the continuous starting of the laser positioning system for positioning, namely judges whether the current residual electric quantity is smaller than a first electric quantity threshold value and larger than a second electric quantity threshold value, when the residual electric quantity exists in the interval, the current electric quantity is insufficient, the server controls the unmanned aerial vehicle to start an intermittent laser positioning mode, namely, the laser positioning system is closed for a period of time every time the laser positioning system is used, and the laser positioning system is intermittently started; when the current residual electric quantity is smaller than or equal to the second electric quantity threshold value, the current residual electric quantity is too insufficient, the laser positioning system is closed for ensuring that the unmanned aerial vehicle has enough electric quantity for flying, and prompt information of the insufficient electric quantity of the unmanned aerial vehicle is displayed to a user.
The application also provides a laser radar-based unmanned aerial vehicle positioning device, and referring to fig. 2, the device comprises an acquisition unit 201 and a processing unit 202.
An acquisition unit 201 for acquiring a ranging time, which is a time taken for a laser beam to reach a preset calibration point from emission, the ranging time including a first ranging time, a second ranging time, and a third ranging time; the laser beam distance measuring device is also used for obtaining the laser beam speed, and obtaining a relative distance according to the laser beam speed and the distance measuring time, wherein the relative distance is the distance between a preset calibration point and the unmanned aerial vehicle, and comprises a first relative distance, a second relative distance and a third relative distance; the method is further used for obtaining preset calibration coordinates, the unmanned aerial vehicle coordinates are obtained according to the preset calibration coordinates and the relative distance, the preset calibration coordinates are coordinates of preset calibration points, the preset calibration coordinates comprise a first calibration coordinate, a second calibration coordinate and a third calibration coordinate, and the unmanned aerial vehicle coordinates and the preset calibration coordinates are in the same coordinate system.
A processing unit 202, configured to transmit, by a laser radar device, a laser beam to a preset calibration point in response to an operation of acquiring a current location, the preset calibration point including a first calibration point, a second calibration point, and a third calibration point, the laser radar device being mounted on the unmanned aerial vehicle; and is also used for displaying the unmanned aerial vehicle coordinates to the user.
In one possible implementation, the processing unit 202 is configured to determine whether the laser beam returns to the lidar device; if the laser beam does not return to the laser radar equipment, determining that the laser beam is blocked, and judging whether coordinates obtained when the laser beam is not blocked exist according to a preset historical flight coordinate library; the acquiring unit 201 is configured to acquire the historical standard coordinates and a motion time period if the coordinates acquired by the historical flight coordinate inventory when the laser beam is not blocked are preset, where the motion time period is a time period from the acquisition time of the historical standard coordinates to the current time; acquiring a historical displacement vector corresponding to a motion time period from a preset displacement database; and acquiring the unmanned plane coordinates according to the historical displacement vector and the historical standard coordinates.
In a possible implementation manner, the obtaining unit 201 is configured to obtain, in a preset displacement database, a ranging offset vector corresponding to a ranging time, where the ranging offset vector is a displacement of the unmanned aerial vehicle in the ranging time; acquiring correction coordinates according to the unmanned aerial vehicle coordinates and the ranging offset vector; the processing unit 202 is configured to take the corrected coordinates as the unmanned aerial vehicle coordinates.
In a possible implementation manner, the obtaining unit 201 is configured to obtain, in a preset route database, a standard coordinate corresponding to the current time, where the preset route database includes a correspondence between a time and a coordinate in a planned route, the standard coordinate is a coordinate in the planned route, and the standard coordinate and the unmanned aerial vehicle coordinate are coordinates on a same coordinate system; the processing unit 202 is used for judging whether the standard coordinates are consistent with the unmanned plane coordinates; if the standard coordinates are inconsistent with the unmanned aerial vehicle coordinates, determining that the unmanned aerial vehicle deviates from the planned route currently; and displaying the prompting information of the unmanned aerial vehicle deviating from the planned route to a user.
In a possible implementation manner, the acquiring unit 201 is configured to acquire environmental image information through an image capturing device, where the image capturing device is mounted on an unmanned aerial vehicle, and the environmental image information is an image within a preset volume range, and the unmanned aerial vehicle is located at the center of the preset volume range; the processing unit 202 is configured to determine whether a person exists in the environmental image information according to a preset image recognition algorithm; and if the personnel exist in the environment image information, displaying the prompt information of the personnel existing near the unmanned aerial vehicle to the user.
In a possible implementation manner, the obtaining unit 201 is configured to obtain a current remaining power of the unmanned aerial vehicle; the processing unit 202 is configured to determine whether the current remaining power is less than a first power threshold and greater than a second power threshold, where the first power threshold is greater than the second power threshold; if the current residual electric quantity is smaller than the first electric quantity threshold value and larger than the second electric quantity threshold value, starting an intermittent laser positioning mode; judging whether the current residual electric quantity is smaller than or equal to a second electric quantity threshold value or not; if the current residual electric quantity is smaller than or equal to the second electric quantity threshold value, the laser positioning system is closed, and prompt information of insufficient electric quantity of the unmanned aerial vehicle is displayed to a user.
In a possible implementation, the processing unit 202 is configured to convert the unmanned aerial vehicle coordinates into map presentation coordinates in a map coordinate system; marking the map display coordinates on a preset map interface, and displaying the preset map interface to a user; in response to the operation of checking the flight track of a user, marking map display coordinates in a preset time period on a preset map interface, and drawing the map display coordinates as the flight track; and displaying the flight path to a user.
It should be noted that: in the device provided in the above embodiment, when implementing the functions thereof, only the division of the above functional modules is used as an example, in practical application, the above functional allocation may be implemented by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to implement all or part of the functions described above. In addition, the embodiments of the apparatus and the method provided in the foregoing embodiments belong to the same concept, and specific implementation processes of the embodiments of the method are detailed in the method embodiments, which are not repeated herein.
The application also provides a computer readable storage medium storing instructions. When executed by one or more processors, cause an electronic device to perform the method as described in one or more of the embodiments above.
The application also provides electronic equipment. Referring to fig. 3, fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device 300 may include: at least one processor 301, at least one communication bus 302, at least one user interface 303, a network interface 304, a memory 305.
Wherein the communication bus 302 is used to enable connected communication between these components.
The user interface 303 may include a Display screen (Display), a Camera (Camera), and the optional user interface 303 may further include a standard wired interface, and a wireless interface.
The network interface 304 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), among others.
Wherein the processor 301 may include one or more processing cores. The processor 301 utilizes various interfaces and lines to connect various portions of the overall server, perform various functions of the server and process data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 305, and invoking data stored in the memory 305. Alternatively, the processor 301 may be implemented in at least one hardware form of digital signal Processing (DIGITAL SIGNAL Processing, DSP), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 301 may integrate one or a combination of several of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU), and a modem, etc. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing the content required to be displayed by the display screen; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor 301 and may be implemented by a single chip.
The Memory 305 may include a random access Memory (Random Access Memory, RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory 305 includes a non-transitory computer readable medium (non-transitory computer-readable storage medium). Memory 305 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 305 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-described respective method embodiments, etc.; the storage data area may store data or the like involved in the above respective method embodiments. Memory 305 may also optionally be at least one storage device located remotely from the aforementioned processor 301. Referring to fig. 3, an operating system, a network communication module, a user interface module, and an application of a laser radar-based unmanned aerial vehicle positioning method may be included in the memory 305 as a computer storage medium.
In the electronic device 300 shown in fig. 3, the user interface 303 is mainly used for providing an input interface for a user, and acquiring data input by the user; and the processor 301 may be configured to invoke an application of a laser radar-based drone positioning method stored in the memory 305, which when executed by the one or more processors 301, causes the electronic device 300 to perform the method as in one or more of the embodiments described above. It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all of the preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, such as a division of units, merely a division of logic functions, and there may be additional divisions in actual implementation, such as multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some service interface, device or unit indirect coupling or communication connection, electrical or otherwise.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable memory. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in whole or in part in the form of a software product stored in a memory, comprising several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method of the various embodiments of the present application. And the aforementioned memory includes: various media capable of storing program codes, such as a U disk, a mobile hard disk, a magnetic disk or an optical disk.
The foregoing is merely exemplary embodiments of the present disclosure and is not intended to limit the scope of the present disclosure. That is, equivalent changes and modifications are contemplated by the teachings of this disclosure, which fall within the scope of the present disclosure. Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure.
This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a scope and spirit of the disclosure being indicated by the claims.
Claims (7)
1. A laser radar-based unmanned aerial vehicle positioning method, the method comprising:
transmitting a laser beam to preset calibration points through laser radar equipment in response to the operation of acquiring the current positioning, wherein the preset calibration points comprise a first calibration point, a second calibration point and a third calibration point, and the laser radar equipment is carried on the unmanned plane;
judging whether the laser beam returns to the laser radar device;
If the laser beam does not return to the laser radar equipment, determining that the laser beam is blocked, and judging whether coordinates obtained when the laser beam is not blocked exist according to a preset historical flight coordinate library;
If the preset historical flight coordinate inventory obtains the coordinate when the laser beam is not blocked, obtaining a historical standard coordinate and a motion time period, wherein the motion time period is a time period from the obtaining time of the historical standard coordinate to the current time;
acquiring a historical displacement vector corresponding to the motion time period from a preset displacement database;
acquiring unmanned aerial vehicle coordinates according to the historical displacement vector and the historical standard coordinates;
Acquiring a ranging time, wherein the ranging time is the time taken by the laser beam to reach the preset calibration point from emission, and the ranging time comprises a first ranging time, a second ranging time and a third ranging time;
Acquiring a laser beam speed, and obtaining a relative distance according to the laser beam speed and the distance measurement time, wherein the relative distance is the distance between the preset calibration point and the unmanned aerial vehicle, and comprises a first relative distance, a second relative distance and a third relative distance;
acquiring preset calibration coordinates, namely acquiring unmanned aerial vehicle coordinates according to the preset calibration coordinates and the relative distance, wherein the preset calibration coordinates are coordinates of the preset calibration points, the preset calibration coordinates comprise a first calibration coordinate, a second calibration coordinate and a third calibration coordinate, and the unmanned aerial vehicle coordinates and the preset calibration coordinates are in the same coordinate system;
Displaying the unmanned aerial vehicle coordinates to a user;
Acquiring the current residual electric quantity of the unmanned aerial vehicle;
Judging whether the current residual electric quantity is smaller than a first electric quantity threshold value and larger than a second electric quantity threshold value, wherein the first electric quantity threshold value is larger than the second electric quantity threshold value;
If the current residual electric quantity is smaller than the first electric quantity threshold value and larger than the second electric quantity threshold value, starting an intermittent laser positioning mode;
judging whether the current residual electric quantity is smaller than or equal to the second electric quantity threshold value;
And if the current residual electric quantity is smaller than or equal to the second electric quantity threshold value, closing a laser positioning system, and displaying the prompting information of the insufficient power of the unmanned aerial vehicle to the user.
2. The method of claim 1, wherein after the acquiring the preset calibration coordinates, acquiring the unmanned aerial vehicle coordinates according to the preset calibration coordinates and the relative distance, the method further comprises:
acquiring a ranging offset vector corresponding to the ranging time from the preset displacement database, wherein the ranging offset vector is the displacement of the unmanned aerial vehicle in the ranging time;
Acquiring correction coordinates according to the unmanned aerial vehicle coordinates and the ranging offset vector;
And taking the corrected coordinates as the unmanned aerial vehicle coordinates.
3. The method of claim 1, wherein after said presenting the drone coordinates to a user, the method further comprises:
Obtaining standard coordinates corresponding to the current moment in a preset route database, wherein the preset route database comprises a corresponding relation between time and coordinates in a planned route, the standard coordinates are the coordinates in the planned route, and the standard coordinates and the unmanned aerial vehicle coordinates are the coordinates on the same coordinate system;
Judging whether the standard coordinates are consistent with the unmanned aerial vehicle coordinates or not;
If the standard coordinates are inconsistent with the unmanned aerial vehicle coordinates, determining that the unmanned aerial vehicle deviates from the planned route currently;
And displaying the prompt information of the unmanned aerial vehicle deviating from the planned route to the user.
4. The method of claim 1, wherein after said presenting the drone coordinates to a user, the method further comprises:
Acquiring environment image information through a camera device, wherein the camera device is carried on the unmanned aerial vehicle, the environment image information is an image in a preset volume range, and the unmanned aerial vehicle is positioned in the center of the preset volume range;
judging whether personnel exist in the environment image information according to a preset image recognition algorithm;
And if the personnel exist in the environment image information, displaying prompt information of the personnel existing near the unmanned aerial vehicle to the user.
5. The method of claim 1, wherein the displaying the drone coordinates to a user specifically comprises:
Converting the unmanned aerial vehicle coordinates into map display coordinates in a map coordinate system;
marking the map display coordinates on a preset map interface, and displaying the preset map interface to the user;
In response to the operation of checking the flight track by the user, marking map display coordinates in a preset time period on the preset map interface, and drawing the map display coordinates as the flight track;
And displaying the flight track to the user.
6. A laser radar based unmanned aerial vehicle positioning device, wherein the device is adapted to perform the method according to any of claims 1 to 5, the device comprising an acquisition unit (201) and a processing unit (202):
The processing unit (202) is used for responding to the operation of acquiring the current positioning and transmitting a laser beam to a preset calibration point through laser radar equipment, wherein the preset calibration point comprises a first calibration point, a second calibration point and a third calibration point, and the laser radar equipment is carried on the unmanned plane;
The acquisition unit (201) is configured to acquire a ranging time, which is a time taken from emission of the laser beam to reaching the preset calibration point, the ranging time including a first ranging time, a second ranging time, and a third ranging time;
the acquisition unit (201) is further configured to acquire a laser beam speed, and obtain a relative distance according to the laser beam speed and the ranging time, where the relative distance is a distance between the preset calibration point and the unmanned aerial vehicle, and the relative distance includes a first relative distance, a second relative distance, and a third relative distance;
The acquisition unit (201) is further configured to acquire preset calibration coordinates, and acquire unmanned aerial vehicle coordinates according to the preset calibration coordinates and the relative distance, where the preset calibration coordinates are coordinates of the preset calibration points, the preset calibration coordinates include a first calibration coordinate, a second calibration coordinate and a third calibration coordinate, and the unmanned aerial vehicle coordinates and the preset calibration coordinates are in the same coordinate system;
-the processing unit (202) is further configured to display the unmanned aerial vehicle coordinates to a user;
-the processing unit (202) is further configured to determine whether the laser beam returns to the lidar device; if the laser beam does not return to the laser radar equipment, determining that the laser beam is blocked, and judging whether coordinates obtained when the laser beam is not blocked exist according to a preset historical flight coordinate library; if the preset historical flight coordinate inventory obtains the coordinate when the laser beam is not blocked, obtaining a historical standard coordinate and a motion time period, wherein the motion time period is a time period from the obtaining time of the historical standard coordinate to the current time; acquiring a historical displacement vector corresponding to the motion time period from a preset displacement database; and acquiring the unmanned aerial vehicle coordinates according to the historical displacement vector and the historical standard coordinates.
7. An electronic device comprising a processor (301), a memory (305), a user interface (303) and a network interface (304), the memory (305) being adapted to store instructions, the user interface (303) and the network interface (304) being adapted to communicate to other devices, the processor (301) being adapted to execute the instructions stored in the memory (305) to cause the electronic device (300) to perform the method according to any one of claims 1to 5.
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| CN114910918A (en) * | 2022-05-14 | 2022-08-16 | 北京卓翼智能科技有限公司 | Positioning method and device, radar device, unmanned aerial vehicle system, controller and medium |
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