WO2019201022A1 - 移动机器人的雷达数据补偿方法、设备和存储介质 - Google Patents

移动机器人的雷达数据补偿方法、设备和存储介质 Download PDF

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Publication number
WO2019201022A1
WO2019201022A1 PCT/CN2019/077020 CN2019077020W WO2019201022A1 WO 2019201022 A1 WO2019201022 A1 WO 2019201022A1 CN 2019077020 W CN2019077020 W CN 2019077020W WO 2019201022 A1 WO2019201022 A1 WO 2019201022A1
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Prior art keywords
radar
time
sensor
data
time series
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PCT/CN2019/077020
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English (en)
French (fr)
Inventor
王行知
丁璜
王立磊
杨锴
郑卓斌
Original Assignee
广东宝乐机器人股份有限公司
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Application filed by 广东宝乐机器人股份有限公司 filed Critical 广东宝乐机器人股份有限公司
Priority to US17/048,513 priority Critical patent/US20210165077A1/en
Priority to EP19787948.9A priority patent/EP3770636A4/en
Publication of WO2019201022A1 publication Critical patent/WO2019201022A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/522—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves
    • G01S13/524—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves based upon the phase or frequency shift resulting from movement of objects, with reference to the transmitted signals, e.g. coherent MTi
    • G01S13/5242—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves based upon the phase or frequency shift resulting from movement of objects, with reference to the transmitted signals, e.g. coherent MTi with means for platform motion or scan motion compensation, e.g. airborne MTI
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/021—Auxiliary means for detecting or identifying radar signals or the like, e.g. radar jamming signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G01S7/4972—Alignment of sensor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector

Definitions

  • the present application relates to the field of robot technology, and in particular, to a radar data compensation method, device and storage medium for a mobile robot.
  • an odometer and a gyroscope are set inside the robot.
  • the robot can acquire the position data of the robot through the odometer and obtain the angle data of the robot through the gyroscope.
  • the lidar sensor may emit laser light at the moment. At the moment of receiving the laser point, the robot is in a different position, so that the data finally acquired by the lidar sensor is deviated. Therefore, the position data and the angle data acquired at each time point of the lidar data can be linearly pushed back by the odometer and the position data and the angle data acquired by the gyroscope to correct the data of the lidar sensor.
  • the data of the lidar sensor is corrected by the position data and the angle data acquired by the odometer and the gyroscope. There is a large error in the position data and the angle data, which affects the accuracy of the data correction.
  • a radar data compensation method for a mobile robot comprising:
  • the radar sensor And acquiring, according to the position information and the angle information of the mobile robot at the time of the data point, the radar sensor acquiring the radar data points corresponding to the radar data time to obtain the radar data points corresponding to the radar data acquisition time. Motion compensation point.
  • a radar data compensation device for a mobile robot comprising:
  • An obtaining module configured to obtain a uniform time sequence, where time intervals between any two adjacent time points of the uniform time series are equal;
  • a first determining module configured to determine location information corresponding to the uniform time series according to a timestamp obtained by the location sensor acquiring data and location information acquired by the location sensor;
  • a second determining module configured to determine, according to a timestamp of the data acquired by the angle sensor and the angle information acquired by the angle sensor, angle information corresponding to the uniform time series;
  • a third determining module configured to determine position information and angle information of the mobile robot at the time when the radar sensor acquires the data point according to the position information and the angle information corresponding to the uniform time series;
  • a compensation module configured to compensate each radar data point corresponding to the time when the radar sensor acquires the radar data according to the position information and the angle information of the mobile robot at the time of acquiring the data point by the radar sensor, to obtain the corresponding data of the radar data acquisition time Motion compensation points for each radar data point.
  • a computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the computer program to implement the following steps:
  • the radar sensor And acquiring, according to the position information and the angle information of the mobile robot at the time of the data point, the radar sensor acquiring the radar data points corresponding to the radar data time to obtain the radar data points corresponding to the radar data acquisition time. Motion compensation point.
  • a computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements the following steps:
  • the radar sensor And acquiring, according to the position information and the angle information of the mobile robot at the time of the data point, the radar sensor acquiring the radar data points corresponding to the radar data time to obtain the radar data points corresponding to the radar data acquisition time. Motion compensation point.
  • the radar data compensation method, device and storage medium of the mobile robot acquire a uniform time series, determine the position information corresponding to the uniform time series according to the time stamp of the position sensor acquiring the data and the position information acquired by the sensor, and acquire the data according to the angle sensor.
  • the angle information obtained by the time stamp and the angle sensor determines the angle information corresponding to the uniform time series, and determines the position information and the angle information of the mobile robot at the time when the radar sensor acquires the data point according to the position information and the angle information corresponding to the uniform time series, according to
  • the radar sensor acquires the position information and the angle information of the mobile robot at the time of the data point, and compensates each radar data point corresponding to the time when the radar sensor acquires the radar data, to obtain the motion compensation point of each radar data point corresponding to the radar data acquisition time, because The time interval between any two adjacent time points of the uniform time series is equal, and each radar data point corresponding to the time when the radar sensor acquires the radar data is compensated to obtain the radar data acquisition time corresponding
  • the position sensor, the angle sensor and the radar sensor all adopt a uniform time series, that is, the sampling frequency of the position sensor, the angle sensor and the radar sensor are unified, thereby reducing the sampling of each sensor.
  • 1 is an application environment diagram of a data compensation method in an embodiment
  • FIG. 2 is a flowchart of a method for compensating radar data of a mobile robot according to an embodiment of the present application
  • FIG. 3 is a time sequence diagram of a sensor acquiring data according to an embodiment of the present application.
  • step 202 is a flow chart of a possible implementation of step 202 in the embodiment shown in FIG. 2;
  • FIG. 5 is a flowchart of a possible implementation manner of step 204 in the embodiment shown in FIG. 2;
  • FIG. 6 is a time sequence diagram of acquiring data by a radar sensor according to an embodiment of the present application.
  • FIG. 7 is a schematic diagram of a velocity vector according to an embodiment of the present application.
  • FIG. 8 is a flowchart of a possible implementation manner of step 205 in the embodiment shown in FIG. 2;
  • FIG. 9 is a schematic diagram of a motion compensation model according to an embodiment of the present application.
  • step 802 in the embodiment shown in FIG. 8;
  • FIG. 11 is a block diagram of a radar data compensation apparatus for a mobile robot according to an embodiment of the present application.
  • FIG. 12 is a schematic diagram of an internal structure of a device according to an embodiment of the present application.
  • the radar data compensation method of the mobile robot provided by the present application can be applied to an application environment as shown in FIG. 1.
  • the robot 1, the server 2 and the terminal 3 can communicate via the network.
  • the terminal 3 can be, but is not limited to, various personal computers, notebook computers, smart phones, tablets, and portable wearable devices.
  • the server 2 can be implemented by a separate server or a server cluster composed of multiple servers.
  • the robot 1 may be a sweeping robot, the sweeping robot is equipped with an angle sensor, a position sensor and a radar sensor, and the radar sensor may be a laser rotating radar sensor.
  • FIG. 2 is a flowchart of a method for compensating radar data of a mobile robot according to an embodiment of the present application.
  • the execution body of the method may be any one of the robot 1, the server 2, and the terminal 3 in FIG. As shown in FIG. 2, the method includes the following steps:
  • Step 201 Acquire a uniform time series, and the time intervals between any two adjacent time points of the uniform time series are equal.
  • the uniform time series may be a time sequence set in advance, or may be a sequence obtained by real-time calculation in the radar data compensation process.
  • a time series with equal time intervals may be preset in advance, or may be The sampling frequency of the position sensor and the angle sensor is used to calculate a uniform time series.
  • the time stamp of the position sensor acquiring the position information is 1 t 1 , 1 t 2 , 1 t 3 , . . . , 1 t n
  • the time stamp of the angle sensor acquiring the angle information is 2 t 1 , 2 t 2 , 2 t 3 ,..., 2 t n
  • the radar sensor acquires radar data at 3 t 1 , 3 t 2 , 3 t 3 ,..., 3 t n , uniform time series 1 t' 1 , 1 t' 2 , 1 t ' 3 ,..., 1 t' n .
  • Step 202 Determine location information corresponding to the uniform time series according to the timestamp of the location sensor acquiring the data and the location information acquired by the location sensor.
  • the position information acquired by the position sensor and the time stamp of the position sensor acquisition data may be interpolated to determine the position information corresponding to the uniform time series.
  • the position information acquired by the position sensor may be interpolated according to the time stamp of the data acquired by the position sensor, and then the position information obtained by the interpolation is corrected, and the corrected position data is used as the position information corresponding to the uniform time series.
  • the position data acquired by the position sensor may be interpolated according to the time stamps 1 t 1 , 1 t 2 , 1 t 3 , . . . , 1 t n of the position information obtained by the position sensor to obtain a uniform time series. 1 t' 1 , 1 t' 2 , 1 t' 3 ,..., 1 t' n corresponding position information.
  • the position information obtained by the interpolation may be corrected, and the corrected position information is used as position information corresponding to the uniform time series 1 t′ 1 , 1 t′ 2 , 1 t′ 3 , . . . , 1 t′ n .
  • the position sensor is used to acquire the position information of the robot and position the robot.
  • the position sensor may be a device for measuring a stroke such as an odometer, or may be a positioning device such as a Global Positioning System (GPS), and the position sensor is integrated inside the robot or mounted on the robot.
  • GPS Global Positioning System
  • Step 203 Determine an angle information corresponding to the uniform time series according to the time stamp obtained by the angle sensor and the angle information acquired by the angle sensor.
  • the time information acquired by the angle sensor may be used to interpolate the angle information acquired by the angle sensor to obtain angle information corresponding to the uniform time series.
  • the time information 2 t 1 , 2 t 2 , 2 t 3 , . . . , 2 t n of the angle information can be obtained according to the angle sensor, and the angle information acquired by the angle sensor is interpolated to obtain a uniform time series. 1 t' 1 , 1 t' 2 , 1 t' 3 ,..., 1 t' n corresponding angle information.
  • the angle sensor is used to acquire the angle information of the robot to determine the moving direction of the robot.
  • the angle sensor can be an electronic compass or a gyroscope, integrated inside the robot or mounted on the robot.
  • Step 204 Determine location information and angle information of the mobile robot at the time when the radar sensor acquires the data point according to the position information and the angle information corresponding to the uniform time series.
  • the uniform time series 1 t' 1 , 1 t' 2 , 1 t' 3 , ..., 1 t' n the uniform time series 1 t' 1 , 1 t
  • the position information and the angle information corresponding to ' 2 , 1 t' 3 , ..., 1 t' n are interpolated to obtain the position information and angle information of the mobile robot at the time when the radar sensor acquires the data point.
  • Step 205 according to the position information and the angle information of the mobile robot at the time of acquiring the data point by the radar sensor, compensating the radar data points corresponding to the radar data acquisition time of the radar data to obtain the motion of each radar data point corresponding to the radar data acquisition time. Compensation point.
  • the radar sensor acquires the data point moment as the time stamp corresponding to each data point of the radar sensor; the radar data acquisition time is the time point corresponding to each 360 degree rotation of the radar sensor.
  • the radar sensor can directly compensate the radar data points corresponding to the radar data at each time of the radar data, so as to obtain the radar data acquisition time correspondingly.
  • the motion compensation point of each radar data point, or the motion compensation model may be obtained according to the position information and the angle information of the mobile robot at the time of acquiring the data point by the radar sensor, and the radar compensation sensor is used to acquire the radar data corresponding to the time of the radar sensor.
  • the data points are compensated to obtain motion compensation points of the radar data points corresponding to the radar data acquisition time.
  • the radar sensor may be a laser radar sensor, a microwave radar sensor, a laser rotating radar sensor, etc., and the radar sensor may be disposed on the robot, and is generally set at the highest point of the robot, but not limited to one time.
  • the radar data compensation method of the mobile robot acquires a uniform time series, determines the position information corresponding to the uniform time series according to the time stamp of the data acquired by the position sensor and the position information acquired by the sensor, and acquires the data according to the angle sensor.
  • the angle information obtained by the time stamp and the angle sensor determines the angle information corresponding to the uniform time series, and determines the position information and the angle information of the mobile robot at the time when the radar sensor acquires the data point according to the position information and the angle information corresponding to the uniform time series, according to
  • the radar sensor acquires the position information and the angle information of the mobile robot at the time of the data point, and compensates each radar data point corresponding to the time when the radar sensor acquires the radar data, to obtain the motion compensation point of each radar data point corresponding to the radar data acquisition time, because The time interval between any two adjacent time points of the uniform time series is equal, and each radar data point corresponding to the time when the radar sensor acquires the radar data is compensated to obtain the corresponding time of the radar data acquisition time.
  • the position sensor, the angle sensor and the radar sensor all adopt a uniform time series, that is, the sampling frequency of the position sensor, the angle sensor and the radar sensor are unified, thereby reducing the sampling of each sensor.
  • the error of the position data and the angle data caused by the frequency inconsistency improves the accuracy of the data correction, and further improves the accuracy of compensating the data acquired by the radar sensor.
  • the first time series may be determined according to the sampling frequency of the position sensor or the angle sensor.
  • a possible implementation manner of “acquiring a uniform time series” in step 201 includes: determining a sampling time interval according to a sampling frequency of the position sensor; and acquiring data by the position sensor according to the sampling time interval.
  • the first timestamp is the starting point, and the uniform time series is determined.
  • a uniform time series can be determined based on the sampling frequency of the position sensor.
  • the position sensor acquires time stamps 1 t 1 , 1 t 2 , 1 t 3 , . . . , 1 t n of the data
  • the time stamp of the angle sensor acquiring data is 2 t 1 , 2 t 2 , 2 t 3 ,..., 2 t n
  • the time at which the radar sensor acquires radar data is 3 t 1 , 3 t 2 , 3 t 3 ,..., 3 t n .
  • the sampling frequency of the position sensor is 20 Hz
  • the sampling time interval is 50 ms
  • the first time stamp 1 t 1 of the data acquired by the position sensor is used as a starting point, and a time point is taken every 50 ms to form a uniform time series 1 t' 1 , 1 t' 2 , 1 t' 3 ,..., 1 t' n .
  • step 201 “Acquiring a uniform time series” includes: determining a sampling time interval according to a sampling frequency of the angle sensor; and acquiring an first timestamp of the data by the angle sensor according to the sampling time interval. As a starting point, determine a uniform time series.
  • the time series of the data acquired by the angle sensor may be 2 t 1 , 2 t 2 , 2 t 3 , . . . , 2 t n to determine a uniform time series, for example, if the angle is The sampling frequency of the sensor is 10 Hz, the sampling interval is 10 ms, and the time series of the data acquired by the angle sensor is 2 t 1 , 2 t 2 , 2 t 3 ,..., 2 t n is the starting point of the first time point 2 t 1 A time point is taken every 10 ms to form a uniform time series 1 t' 1 , 1 t' 2 , 1 t' 3 , ..., 1 t' n .
  • step 202 determines the location information corresponding to the uniform time series according to the timestamp of the location sensor acquiring the data and the location information acquired by the location sensor", including:
  • Step 401 Perform interpolation on the position information acquired by the position sensor according to the time stamp of the data acquired by the position sensor, and obtain the position information after the interpolation.
  • the position information acquired by the sensor may be interpolated according to the time stamps 1 t 1 , 1 t 2 , 1 t 3 , . . . , 1 t n of the data acquired by the position sensor.
  • the position information after interpolation is obtained.
  • Step 402 Filter the position information after interpolation by using preset filtering parameters to obtain position information corresponding to the uniform time series.
  • some filtering parameters may be preset, and the interpolated position information is filtered according to the filtering parameter to obtain a uniform time series 1 t' 1 , 1 t' 2 . 1 t' 3 ,..., 1 t' n corresponding position information.
  • the filtering method may be Kalman filtering, Wiener filtering, nonlinear filtering, etc., wherein the Kalman filtering may be standard Kalman filtering, or similar extended Kalman filtering (EKF), lossless Kalman filtering ( Unscentedkalman filter, UKF) or particle filtering algorithms.
  • Table 1 is a Kalman filter parameter table provided by an embodiment of the present application.
  • the filtering parameters include state quantity X, observation Z, state matrix A, observation matrix H, process noise Q, and measurement noise.
  • the observation Z may be position information corresponding to the uniform time series 1 t' 1 , 1 t' 2 , 1 t' 3 , ..., 1 t' n .
  • the position information corresponding to the uniform time series 1 t' 1 , 1 t' 2 , 1 t' 3 , . . . , 1 t' n is used as the observation Z, and the interpolated position is determined by using the parameters of Table 1.
  • the information is filtered to obtain position data corresponding to the uniform time series.
  • the radar data compensation method of the mobile robot provided by the embodiment of the present invention performs interpolation calculation on the position information acquired by the sensor according to the time stamp of the position sensor, and obtains the position information after the interpolation, and uses the preset filter parameter to interpolate.
  • the position information is filtered to obtain position information corresponding to the uniform time series. Since the filtered position parameters are used to filter the position information after interpolation, the position information corresponding to the obtained uniform time series is closer to the actual position of the mobile robot, and can be effectively estimated.
  • the position information of the mobile robot at any time improves the positioning accuracy of the mobile robot.
  • FIG. 5 is a flow chart of a possible implementation of step 204 in the embodiment shown in FIG. 2.
  • step 204 "determine the position information and the angle information of the mobile robot at the time when the radar sensor acquires the data point according to the position information and the angle information corresponding to the uniform time series", including:
  • Step 501 Determine, according to the uniform time sequence and the angle information corresponding to the uniform time series, the time at which the radar sensor acquires the data point.
  • FIG. 6 is a time sequence diagram of acquiring data by a radar sensor according to an embodiment of the present application.
  • 3i t 1 , 3i t 2 , 3i t 3 , . . . , 3i t n are moments for acquiring a data point by a radar sensor
  • 3 t 1 , 3 t 2 , 3 t 3 ,..., 3 t n is the time when the radar sensor acquires the radar data
  • the radar data acquisition time is the time point corresponding to each rotation of the radar sensor by 360 degrees, at which time the radar sensor rotates the radar sensor for one week ( At 360 degrees, each radar data is acquired to form a frame of data and uploaded to the processor, which is a processor of the mobile robot, terminal or server.
  • the robot cannot directly acquire the motion data corresponding to the radar sensor acquiring the data point times 3i t 1 , 3i t 2 , 3i t 3 , ..., 3i t n .
  • the time interval for the position sensor to acquire data is generally 50 ms. Since the 50 ms is very short, it can be considered that the change of the speed and position of the robot in one time interval is uniform, and the time point of each frame of data acquired by the radar sensor corresponds.
  • the rotation angle of the radar sensor is 360°, and the rotation speed of the radar sensor can be considered to be constant.
  • the uniform time series 1 t' 1 , 1 t' 2 , 1 t' 3 ,..., 1 t' n and the uniform time series can be utilized.
  • Step 502 Perform interpolation operations on the position information and the angle information corresponding to the uniform time series according to the uniform time series, and determine the position information and the angle of the mobile robot at the time when the radar sensor acquires the data point.
  • corresponding position information and angle information are interpolated to determine the position information of the mobile robot that acquires the data point times 3i t 1 , 3i t 2 , 3i t 3 , ..., 3i t n by the radar sensor and angle.
  • the speed of the mobile robot may also be obtained according to position information and angle information corresponding to the uniform time series.
  • the V diameter refers to a speed component of the moving speed of the object (mobile robot) in the direction of the observer's line of sight. That is, the projection of the velocity vector in the line of sight direction, and the V method refers to the velocity component perpendicular to the V- path of the object.
  • V tot in Figure 7 refers to the speed (vector) of the robot.
  • Figure 6 shows the two velocity components in different directions, one in the x and y directions of the coordinate system, and the other in the radial velocity. And the component of the direction speed.
  • the angle information corresponding to the robot's current velocity in the x, y-axis directions V x , V y and the robot in the uniform time series 1 t' 1 , 1 t' 2 , 1 t' 3 , ..., 1 t' n Calculating the radial velocity V- path and the normal velocity V method at each time point in the radar sensor acquisition data point instants 3i t 1 , 3i t 2 , 3i t 3 , ..., 3i t n .
  • FIG. 8 is a flow chart of a possible implementation of step 205 in the embodiment shown in FIG. 2.
  • step 205 "compensates the radar data points corresponding to the time when the radar sensor acquires the radar data according to the position information and the angle information of the mobile robot at the time of acquiring the data point by the radar sensor, so as to obtain the radar data acquisition time corresponding to the radar data acquisition time.
  • Motion compensation points for each radar data point including:
  • Step 801 Determine a motion compensation model according to the position information and the angle information of the mobile robot at the time when the radar sensor acquires the data point and the position information and the angle information corresponding to the radar sensor acquiring the radar data time; the motion compensation model is used to indicate the position of the obstacle point and The radar sensor acquires the relative relationship between the actual positions of the mobile robots at the time of the data point.
  • the radar data acquired by the radar sensor is not the position data and the angle data of the mobile robot, and the radar data needs to be subjected to a certain arithmetic processing to obtain the position information and the angle information corresponding to the time when the radar sensor acquires the radar data.
  • a Lidar sensor works by transmitting a detection signal (laser beam) to a target, and then receiving the received signal (target echo) reflected from the target, and comparing the signal reflected by the target with the transmitted signal. After proper processing, parameters such as distance, azimuth, altitude, speed, attitude, and even shape of the target can be obtained.
  • the position information and the angle information corresponding to the radar data acquisition radar data time 3 t 1 , 3 t 2 , 3 t 3 , . . . , 3 t n are marked as O 0 points, coordinates For (x 0 , y 0 , ⁇ 0 ), the radar sensor acquires the position information and the angle information corresponding to each time point in the data point time 3i t 1 , 3i t 2 , 3i t 3 , ..., 3i t n as O 1 Point, the coordinate is (x 1 , y 1 , ⁇ 1 ), point A is the obstacle point, and the coordinate of point A is (x A , y A ).
  • the coordinates ( ⁇ A1 , ⁇ A1 ), the relative relationship between point A and O 0 are polar coordinates ( ⁇ A0 , ⁇ A0 ), and the motion compensation model is ( ⁇ A0 , ⁇ A0 ).
  • Step 802 Compensate, according to the motion compensation model, each radar data point corresponding to the time when the radar sensor acquires the radar data, to obtain a motion compensation point of each radar data point corresponding to the radar data acquisition time.
  • the motion compensation model is used to compensate each radar data point corresponding to the time when the radar sensor acquires the radar data, so as to obtain the motion compensation points of the radar data points corresponding to the radar data acquisition time, and then the time points are obtained.
  • the data is rearranged into the data format of the radar data sensor as input data for subsequent programs, for example, the compensated data is used as input data for the positioning drawing model.
  • the radar data compensation method of the mobile robot determines the motion compensation model according to the position information and the angle information of the mobile robot at the time of acquiring the data point by the radar sensor and the position information and the angle information corresponding to the radar sensor acquiring the radar data time, according to the motion compensation model, according to The motion compensation model compensates the radar data points corresponding to the radar sensor acquisition radar data time to obtain the motion compensation points of the radar data points corresponding to the radar data acquisition time, and the motion compensation model is used to indicate the position of the obstacle point and the radar.
  • the relative relationship between the actual position of the mobile robot at the time of acquiring the data point by the sensor is equivalent to determining the actual position of the robot according to the relative relationship between the obstacle point and the position of the mobile robot, which can effectively reduce the influence of the robot's own motion on the radar data and improve The robustness of the system work and the accuracy of the positioning and mapping.
  • step 802 "compensates the radar data points corresponding to the time when the radar sensor acquires the radar data according to the motion compensation model to obtain the motion compensation points of the radar data points corresponding to the radar data acquisition time," including:
  • Step 1001 Determine a first interpolation score of the location information corresponding to the uniform time series.
  • the first interpolation score may include an interpolation score of position information corresponding to each time point in the uniform time series 1 t' 1 , 1 t' 2 , 1 t' 3 , ..., 1 t' n
  • the interpolation of the filtered position information is scored. For example, the position information corresponding to each time point in each uniform time series 1 t' 1 , 1 t' 2 , 1 t' 3 , ..., 1 t' n can be scored, and then the filtered position information is performed.
  • the first interpolation score value may include an interpolation score of the position information corresponding to each time point in the uniform time series 1 t′ 1 , 1 t′ 2 , 1 t′ 3 , . . . , 1 t′ n , or may be uniform The average of the interpolation scores of the positional information corresponding to all time points in the time series 1 t' 1 , 1 t' 2 , 1 t' 3 , ..., 1 t' n .
  • Step 1002 Determine a second interpolation score of the angle information corresponding to the uniform time series.
  • the angle information corresponding to each time point in each uniform time series 1 t′ 1 , 1 t′ 2 , 1 t′ 3 , . . . , 1 t′ n may be scored to obtain a second interpolation value. score.
  • the second interpolation score may include an interpolation score of the angle information corresponding to each time point in the uniform time series 1 t′ 1 , 1 t′ 2 , 1 t′ 3 , . . . , 1 t′ n , or may be a uniform time.
  • Step 1003 Determine a third interpolation score of the position information of the mobile robot at the time when the radar sensor acquires the data point.
  • the position information corresponding to each time point in the data point time 3i t 1 , 3i t 2 , 3i t 3 , . . . , 3i t n of the radar sensor may be scored to obtain a third interpolation score.
  • the third interpolation score may include an interpolation score of the position information corresponding to each time point in the data point time 3i t 1 , 3i t 2 , 3i t 3 , . . . , 3i t n of the radar sensor, or may be acquired by the radar sensor.
  • Step 1004 Calculate an average interpolation score according to the first interpolation score, the second interpolation score, and the third interpolation score.
  • Step 1005 If the average interpolation score is greater than a preset threshold, according to the motion compensation model, the radar data points corresponding to the radar data acquisition time of the radar sensor are compensated to obtain the motion compensation points of the radar data points corresponding to the radar data acquisition time. .
  • the interpolation operation since the linear interpolation operation is performed a plurality of times, the data finally obtained has a certain error, and therefore, the interpolation operation can be scored.
  • the scores of all the interpolation operations are accumulated to obtain an average interpolation score of the final motion compensation process. If the average interpolation score is higher, the higher the reliability of each interpolation operation is, and the higher the accuracy of the obtained result is, the motion compensation work is performed; If the average interpolation score is too low, the interpolation operation error is large, and the obtained result has a large error, which is not suitable for motion compensation.
  • the data compensation method determines a first interpolation score of the position information corresponding to the uniform time series, determines a second interpolation score of the angle information corresponding to the uniform time series, and determines a position of the mobile robot at the time when the radar sensor acquires the data point.
  • a third interpolation score of the information calculating an average interpolation score according to the first interpolation score, the second interpolation score, and the third interpolation score, and if the average interpolation score is greater than a preset threshold, acquiring radar data timing for the radar sensor according to the motion compensation model Corresponding radar data points are compensated to obtain the motion compensation points of the radar data points corresponding to the radar data acquisition time.
  • the motion compensation can improve the accuracy of the motion compensation, thereby improving the robustness of the robot system.
  • FIGS. 2-10 are sequentially displayed as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Except as explicitly stated herein, the execution of these steps is not strictly limited, and the steps may be performed in other orders. Moreover, at least some of the steps in FIGS. 2-10 may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, these sub-steps or stages The order of execution is not necessarily performed sequentially, but may be performed alternately or alternately with at least a portion of other steps or sub-steps or stages of other steps.
  • FIG. 11 is a block diagram of a radar data compensation apparatus for a mobile robot according to an embodiment of the present disclosure. As shown in FIG. 11, the apparatus includes: an acquisition module 11, a first determination module 12, a second determination module 13, and a third determination. Module 14 and compensation module 15.
  • the obtaining module 11 is configured to obtain a uniform time sequence, where time intervals between any two adjacent time points of the uniform time series are equal;
  • a first determining module 12 configured to determine location information corresponding to the uniform time series according to a timestamp obtained by the location sensor acquiring data and location information acquired by the location sensor;
  • the second determining module 13 is configured to determine, according to the timestamp of the data acquired by the angle sensor and the angle information acquired by the angle sensor, angle information corresponding to the uniform time series;
  • the third determining module 14 is configured to determine position information and angle information of the mobile robot at the time when the radar sensor acquires the data point according to the position information and the angle information corresponding to the uniform time series;
  • the compensation module 15 is configured to compensate the radar data points corresponding to the radar data acquisition time according to the position information and the angle information of the mobile robot at the time of acquiring the data point by the radar sensor, to obtain the radar data acquisition time corresponding Motion compensation points for each radar data point.
  • the first determining module 12 is specifically configured to perform interpolation on the position information acquired by the position sensor according to the timestamp of the data acquired by the position sensor, to obtain the interpolated position information;
  • the filtering parameter filters the position information obtained by the interpolation to obtain position information corresponding to the uniform time series.
  • the compensation module 15 is specifically configured to determine the motion compensation according to the position information and the angle information of the mobile robot according to the time when the radar sensor acquires the data point and the position information and the angle information corresponding to the radar sensor acquiring the radar data time. Modeling, according to the motion compensation model, compensating for each radar data point corresponding to the time when the radar sensor acquires the radar data, to obtain a motion compensation point of each radar data point corresponding to the radar data acquisition time; The relative relationship between the position indicating the obstacle point and the actual position of the mobile robot at the time when the radar sensor acquires the data point.
  • the compensation module 15 compensates each radar data point corresponding to the radar data acquisition time according to the motion compensation model to obtain a motion compensation point of each radar data point corresponding to the radar data acquisition time.
  • the compensation module 15 determines a first interpolation score of the position information corresponding to the uniform time series; determines a second interpolation score of the angle information corresponding to the uniform time series; and determines a mobile robot that acquires the data point time by the radar sensor a third interpolation score of the location information; calculating an average interpolation score according to the first interpolation score, the second interpolation score, and the third interpolation score; if the average interpolation score is greater than a preset threshold, according to the The motion compensation model compensates each radar data point corresponding to the time when the radar sensor acquires the radar data to obtain a motion compensation point of each radar data point corresponding to the radar data acquisition time.
  • the third determining module 14 is specifically configured to determine, according to the uniform time sequence and the angle information corresponding to the uniform time series, the time at which the radar sensor acquires a data point; according to the uniform time series, The position information and the angle information corresponding to the uniform time series are interpolated, and the position information and the angle of the mobile robot at the time when the radar sensor acquires the data point are determined.
  • the acquiring module 11 is specifically configured to determine a sampling time interval according to a sampling frequency of the position sensor; and determining, according to the sampling time interval, a first timestamp of acquiring data by the position sensor as a starting point A uniform time series is described.
  • Each of the above data compensation devices may be implemented in whole or in part by software, hardware, and combinations thereof.
  • Each of the above modules may be embedded in or independent of the processor in the robot, the server, or the terminal shown in FIG. 1 , or may be stored in the memory in the robot, the server, and the terminal shown in FIG. 1 . So that the processor calls to perform the operations corresponding to the above modules.
  • an apparatus which may be a robot, a server or a terminal as shown in FIG. 1, and an internal structural diagram thereof may be as shown in FIG.
  • the device includes a processor, memory, network interface, and database connected by a system bus.
  • the processor of the device is used to provide computing and control capabilities.
  • the memory of the device includes a non-volatile storage medium, an internal memory.
  • the non-volatile storage medium stores an operating system, a computer program, and a database.
  • the internal memory provides an environment for operation of an operating system and computer programs in a non-volatile storage medium.
  • the device's database is used to store various location data, angle data, time series, and the like.
  • the device's network interface is used to communicate with external terminals over a network connection.
  • the computer program is executed by the processor to implement a data compensation method as described in any of the embodiments of FIGS.
  • FIG. 12 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation of the computer device to which the solution of the present application is applied.
  • the specific computer device may It includes more or fewer components than those shown in the figures, or some components are combined, or have different component arrangements.
  • an apparatus comprising a memory and a processor having a computer program stored therein that, when executed, implements the following steps:
  • the radar sensor And acquiring, according to the position information and the angle information of the mobile robot at the time of the data point, the radar sensor acquiring the radar data points corresponding to the radar data time to obtain the radar data points corresponding to the radar data acquisition time. Motion compensation point.
  • the step of “determining the location information corresponding to the uniform time series according to the timestamp obtained by the location sensor and the location information acquired by the location sensor” includes: Obtaining the position information acquired by the position sensor according to the time stamp of the position sensor, and obtaining the position information after the interpolation; and filtering the position information after the interpolation by using a preset filter parameter to obtain The position information corresponding to the uniform time series.
  • the point is compensated to obtain the motion compensation point of each radar data point corresponding to the radar data acquisition time, including:
  • a motion compensation model according to position information and angle information of the mobile robot at a time when the radar sensor acquires a data point and a position information and angle information corresponding to the radar sensor acquiring the radar data time; the motion compensation model is used to represent the obstacle point And a relative relationship between the position of the mobile robot and the actual position of the mobile robot at the time of acquiring the data point by the radar sensor; and compensating, according to the motion compensation model, the radar data points corresponding to the time when the radar sensor acquires the radar data to obtain The motion compensation point of each radar data point corresponding to the radar data acquisition time.
  • the step of “compensating for each radar data point corresponding to the time when the radar sensor acquires the radar data according to the motion compensation model, to obtain the radar data acquisition time corresponding to a motion compensation point of each radar data point comprising: determining a first interpolation score of the position information corresponding to the uniform time series; determining a second interpolation score of the angle information corresponding to the uniform time series; determining the radar sensor acquisition a third interpolation score of the position information of the mobile robot at the data point moment; calculating an average interpolation score according to the first interpolation score, the second interpolation score, and the third interpolation score; if the average interpolation score is greater than a pre- The threshold value is used to compensate the radar data points corresponding to the radar data acquisition time according to the motion compensation model to obtain the motion compensation points of the radar data points corresponding to the radar data acquisition time.
  • the step of “acquiring the uniform time series” includes: determining a sampling time interval according to a sampling frequency of the position sensor; and the position sensor according to the sampling time interval The first timestamp of the acquired data is the starting point, and the uniform time series is determined.
  • a computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements the following steps:
  • the radar sensor And acquiring, according to the position information and the angle information of the mobile robot at the time of the data point, the radar sensor acquiring the radar data points corresponding to the radar data time to obtain the radar data points corresponding to the radar data acquisition time. Motion compensation point.
  • the step of “determining the location information corresponding to the uniform time series according to the timestamp obtained by the location sensor and the location information acquired by the location sensor” includes And interpolating the position information acquired by the position sensor according to the time stamp of the position sensor, and obtaining the position information after the interpolation; and filtering the position information after the interpolation by using a preset filtering parameter, Position information corresponding to the uniform time series is obtained.
  • the data point is compensated to obtain a motion compensation point of each radar data point corresponding to the radar data acquisition time, and includes: acquiring the radar according to the position information and the angle information of the mobile robot at the time of acquiring the data point according to the radar sensor Determining a motion compensation model according to the position information and the angle information corresponding to the data moment; the motion compensation model is used to indicate a relative relationship between the position of the obstacle point and the actual position of the mobile robot at the time when the radar sensor acquires the data point; The motion compensation model compensates each radar data point corresponding to the time at which the radar sensor acquires the radar data to obtain a motion compensation point of each radar data point corresponding to the radar data acquisition time.
  • the step of “compensating for each radar data point corresponding to the time when the radar sensor acquires the radar data according to the motion compensation model, to obtain a radar data acquisition time corresponding a motion compensation point of each radar data point comprising: determining a first interpolation score of the position information corresponding to the uniform time series; determining a second interpolation score of the angle information corresponding to the uniform time series; determining the radar sensor Obtaining a third interpolation score of the position information of the mobile robot at the data point moment; calculating an average interpolation score according to the first interpolation score, the second interpolation score, and the third interpolation score; if the average interpolation score is greater than
  • the preset threshold value is used to compensate the radar data points corresponding to the radar data acquisition time according to the motion compensation model to obtain motion compensation points of the radar data points corresponding to the radar data acquisition time.
  • the step “the determining the position information and the angle information of the mobile robot at the time of acquiring the data point by the radar sensor according to the position information and the angle information corresponding to the uniform time series” includes: determining, according to the uniform time sequence and the angle information corresponding to the uniform time series, the time at which the radar sensor acquires a data point; and performing, according to the uniform time series, location information and angle information corresponding to the uniform time series An interpolation operation is performed to determine position information and an angle of the mobile robot at the time when the radar sensor acquires the data point.
  • the step of “sequencing the obtaining a uniform time series” comprises: determining a sampling time interval according to a sampling frequency of the position sensor; and according to the sampling time interval, the position The first timestamp of the sensor acquisition data is the starting point, and the uniform time series is determined.
  • Non-volatile memory can include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory can include random access memory (RAM) or external cache memory.
  • RAM is available in a variety of formats, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronization chain.
  • SRAM static RAM
  • DRAM dynamic RAM
  • SDRAM synchronous DRAM
  • DDRSDRAM double data rate SDRAM
  • ESDRAM enhanced SDRAM
  • Synchlink DRAM SLDRAM
  • Memory Bus Radbus
  • RDRAM Direct RAM
  • DRAM Direct Memory Bus Dynamic RAM
  • RDRAM Memory Bus Dynamic RAM

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Abstract

一种移动机器人的雷达数据补偿方法，包括：获取均匀时间序列，均匀时间序列的任意两个相邻时间点之间的时间间隔均相等（201）；根据位置传感器获取数据的时间戳和位置传感器获取到的位置信息，确定均匀时间序列对应的位置信息（202）；根据角度传感器获取数据的时间戳和角度传感器获取到的角度信息，确定均匀时间序列对应的角度信息（203）；根据均匀时间序列对应的位置信息和角度信息，确定雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息（204）；根据雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息，对雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点（205）。还涉及一种移动机器人的雷达数据补偿装置、设备和存储介质。

Description

移动机器人的雷达数据补偿方法、设备和存储介质
相关申请的交叉引用
本申请要求于2018年04月18日提交中国专利局，申请号为2018103468721，申请名称为“移动机器人的雷达数据补偿方法、装置、设备和存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及机器人技术领域，特别是涉及一种移动机器人的雷达数据补偿方法、设备和存储介质。
背景技术
随着互联网技术和自动化技术的发展，机器人科技现今越趋成熟，例如，扫地机器人因为操作简单、使用方便，越来越多地走入了人们生活。
目前，为了对机器人进行定位和运动轨迹规划，在机器人内部设置了里程计和陀螺仪，机器人可以通过里程计获取机器人的位置数据，通过陀螺仪获取机器人的角度数据。还可以在机器人上设置激光雷达传感器，通过激光雷达传感器获取的数据确定机器人的位置数据和角度数据，由于激光雷达传感器获取数据时，若机器人处于运动状态，会导致激光雷达传感器在发射激光点时刻和接收激光点时刻，机器人处于不同的位置，使得激光雷达传感器最终获取的数据存在偏差。因此，可以采用里程计、陀螺仪获取到的位置数据和角度数据线性回推激光雷达数据的每一个时间点获取的位置数据和角度数据，以对激光雷达传感器的数据进行校正。
但是，由于激光雷达传感器获取雷达数据点的频率远高于里程计和陀螺仪获取数据的频率，因此，采用里程计和陀螺仪获取的位置数据和角度数据对激光雷达传感器的数据进行校正，得到的位置数据和角度数据存在较大的误差，影响数据校正的准确性。
发明内容
基于此，有必要针对上述技术问题，提供一种能够提高雷达传感器数据补偿准确性的移动机器人的雷达数据补偿方法、设备和存储介质。
一种移动机器人的雷达数据补偿方法，所述方法包括：
获取均匀时间序列，所述均匀时间序列的任意两个相邻时间点之间的时间间隔均相等；
根据位置传感器获取数据的时间戳和所述位置传感器获取到的位置信息，确定所述均匀时间序列对应的位置信息；
根据角度传感器获取数据的时间戳和所述角度传感器获取到的角度信息，确定所述均匀时间序列对应的角度信息；
根据所述均匀时间序列对应的位置信息和角度信息，确定雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息；
根据所述雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点。
一种移动机器人的雷达数据补偿装置，包括：
获取模块，用于获取均匀时间序列，所述均匀时间序列的任意两个相邻时间点之间的时间间隔均相等；
第一确定模块，用于根据位置传感器获取数据的时间戳和所述位置传感器获取到的位置信息，确定所述均匀时间序列对应的位置信息；
第二确定模块，用于根据角度传感器获取数据的时间戳和所述角度传感器获取到的角度信息，确定所述均匀时间序列对应的角度信息；
第三确定模块，用于根据所述均匀时间序列对应的位置信息和角度信息，确定雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息；
补偿模块，用于根据所述雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点。
一种计算机设备，包括存储器和处理器，所述存储器存储有计算机程序，所述处理器执行所述计算机程序时实现以下步骤：
获取均匀时间序列，所述均匀时间序列的任意两个相邻时间点之间的时间间隔均相等；
根据位置传感器获取数据的时间戳和所述位置传感器获取到的位置信息，确定所述均匀时间序列对应的位置信息；
根据角度传感器获取数据的时间戳和所述角度传感器获取到的角度信息，确定所述均匀时间序列对应的角度信息；
根据所述均匀时间序列对应的位置信息和角度信息，确定雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息；
根据所述雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点。
一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现以下步骤：
获取均匀时间序列，所述均匀时间序列的任意两个相邻时间点之间的时间间隔均相 等；
根据位置传感器获取数据的时间戳和所述位置传感器获取到的位置信息，确定所述均匀时间序列对应的位置信息；
根据角度传感器获取数据的时间戳和所述角度传感器获取到的角度信息，确定所述均匀时间序列对应的角度信息；
根据所述均匀时间序列对应的位置信息和角度信息，确定雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息；
根据所述雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点。
上述移动机器人的雷达数据补偿方法、设备和存储介质，获取均匀时间序列，根据位置传感器获取数据的时间戳和传感器获取到的位置信息，确定均匀时间序列对应的位置信息，根据角度传感器获取数据的时间戳和角度传感器获取到的角度信息，确定均匀时间序列对应的角度信息，根据均匀时间序列对应的位置信息和角度信息，确定雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息，根据雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息，对雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点，由于均匀时间序列的任意两个相邻时间点之间的时间间隔均相等，在对雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点时，位置传感器、角度传感器、雷达传感器均采用了均匀时间序列，也即位置传感器、角度传感器、雷达传感器的采样频率是统一的，从而降低了由于各传感器的采样频率不一致造成的位置数据和角度数据的误差，提高了数据校正的准确性，进一步提高了对雷达传感器获取到的数据进行补偿的准确性。
附图说明
图1为一个实施例中数据补偿方法的应用环境图；
图2为本申请一实施例提供的一种移动机器人的雷达数据补偿方法流程图；
图3为本申请实施例提供的一种传感器获取数据的时间序列示意图；
图4为图2所示实施例中的步骤202的一种可能的实现方式的流程图；
图5为图2所示实施例中的步骤204的一种可能的实现方式的流程图；
图6为本申请实施例提供的一种雷达传感器获取数据的时间序列示意图；
图7为本申请一实施例提供的速度矢量示意图；
图8为图2所示实施例中的步骤205的一种可能的实现方式的流程图；
图9为本申请一实施例提供的运动补偿模型示意图；
图10为图8所示实施例中步骤802的一种可能的实现方式的流程图；
图11为本申请实施例提供的一种移动机器人的雷达数据补偿装置的框图；
图12为本申请一实施例提供的一种设备的内部结构图。
具体实施例方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
本申请提供的移动机器人的雷达数据补偿方法，可以应用于如图1所示的应用环境中。其中，机器人1、服务器2和终端3之间可以通过网络进行通信。其中，终端3可以但不限于是各种个人计算机、笔记本电脑、智能手机、平板电脑和便携式可穿戴设备，服务器2可以用独立的服务器或者是多个服务器组成的服务器集群来实现。例如，机器人1可以为扫地机器人，扫地机器人上装有角度传感器、位置传感器和雷达传感器，雷达传感器可以为激光旋转雷达传感器。
图2为本申请一实施例提供的一种移动机器人的雷达数据补偿方法流程图。该方法的执行主体可以为图1中的机器人1、服务器2和终端3中的任意一个。如图2所示，该方法包括以下步骤：
步骤201、获取均匀时间序列，均匀时间序列的任意两个相邻时间点之间的时间间隔均相等。
在本实施例中，均匀时间序列可以是预先设置的一个时间序列，也可以是在雷达数据补偿过程中实时计算获得的一个序列，例如，可以预先设置一个时间间隔相等的时间序列，也可以根据位置传感器、角度传感器的采样频率来计算均匀时间序列。
如图3所示，位置传感器获取位置信息的时间戳为 1t 1, 1t 2, 1t 3,…, 1t n，角度传感器获取角度信息的时间戳为 2t 1, 2t 2, 2t 3,…, 2t n，雷达传感器获取雷达数据时刻为 3t 1, 3t 2, 3t 3,…, 3t n，均匀时间序列 1t' 1, 1t' 2, 1t' 3,…, 1t' n。
步骤202、根据位置传感器获取数据的时间戳和位置传感器获取到的位置信息，确定均匀时间序列对应的位置信息。
在本实施例中，可以根据位置传感器获取到的位置信息和位置传感器获取数据的时间戳进行插值运算，确定均匀时间序列对应的位置信息。或者，还可以先根据位置传感器获取数据的时间戳对位置传感器获取到的位置信息进行插值运算，然后对插值得到的位置信息进行校正，将校正后的位置数据作为均匀时间序列对应的位置信息。
如图3所示，可以根据位置传感器获取位置信息的时间戳 1t 1, 1t 2, 1t 3,…, 1t n，对位置传感器获取到的位置数据进行插值运算，得到均匀时间序列 1t' 1, 1t' 2, 1t' 3,…, 1t' n对应的位置信息。或者，还可以对插值得到的位置信息进行校正，将校正后的位置信息作为均匀时间序列 1t' 1, 1t' 2, 1t' 3,…, 1t' n对应的位置信息。
其中，位置传感器用于获取机器人的位置信息，对机器人进行定位。该位置传感器可 以是里程计等测量行程的装置，也可以是全球定位系统(Global Positioning System，GPS)等定位装置，且该位置传感器集成在机器人内部或安装在机器人上。
步骤203、根据角度传感器获取数据的时间戳和角度传感器获取到的角度信息，确定均匀时间序列对应的角度信息。
在本实施例中，可以根据角度传感器获取数据的时间戳，对角度传感器获取到的角度信息进行插值，得到均匀时间序列对应的角度信息。
如图3所示，可以根据角度传感器获取角度信息的时间戳 2t 1, 2t 2, 2t 3,…, 2t n，对角度传感器获取到的角度信息进行插值运算，得到均匀时间序列 1t' 1, 1t' 2, 1t' 3,…, 1t' n对应的角度信息。
其中，角度传感器用于获取机器人的角度信息，以确定机器人的运动方向。该角度传感器可以为电子罗盘或陀螺仪等装置，集成在机器人内部或安装在机器人上。
步骤204、根据均匀时间序列对应的位置信息和角度信息，确定雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息。
在本实施例中，如图3所示，可以根据均匀时间序列 1t' 1, 1t' 2, 1t' 3,…, 1t' n，对均匀时间序列 1t' 1, 1t' 2, 1t' 3,…, 1t' n对应的位置信息和角度信息进行插值运算，得到雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息。
步骤205、根据雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息，对雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点。
其中，雷达传感器获取数据点时刻为雷达传感器获取每个数据点对应的时间戳；雷达数据获取时刻为雷达传感器每旋转360度对应的时间点。
在本实施例中，可以根据雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息，直接对雷达传感器获取雷达数据每个时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点，或者，还可以根据雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息得到运动补偿模型，采用运动补偿模型对雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点。
其中，雷达传感器可以为激光雷达传感器、微波雷达传感器、激光旋转雷达传感器等，雷达传感器可以设置在机器人上，一般设置在机器人的最高点，但并不一次为限。
本申请实施例提供的移动机器人的雷达数据补偿方法，获取均匀时间序列，根据位置传感器获取数据的时间戳和传感器获取到的位置信息，确定均匀时间序列对应的位置信息，根据角度传感器获取数据的时间戳和角度传感器获取到的角度信息，确定均匀时间序列对应的角度信息，根据均匀时间序列对应的位置信息和角度信息，确定雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息，根据雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息，对雷达传感器获取雷达数据时刻对应的各雷达数据点进行 补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点，由于均匀时间序列的任意两个相邻时间点之间的时间间隔均相等，在对雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点时，位置传感器、角度传感器、雷达传感器均采用了均匀时间序列，也即位置传感器、角度传感器、雷达传感器的采样频率是统一的，从而降低了由于各传感器的采样频率不一致造成的位置数据和角度数据的误差，提高了数据校正的准确性，进一步提高了对雷达传感器获取到的数据进行补偿的准确性。
可选地，在上述图2所示实施例的基础上，若均匀时间序列不是预先设定的时间序列，可以根据位置传感器或角度传感器的采样频率确定第一时间序列。
可选地，步骤201“获取均匀时间序列”的一种可能的实现方式，包括：根据所述位置传感器的采样频率确定采样时间间隔；根据所述采样时间间隔，以所述位置传感器获取数据的第一个时间戳为起点，确定所述均匀时间序列。
在本实施例中，可以根据位置传感器的采样频率确定均匀时间序列。如图3所示，位置传感器获取数据的时间戳 1t 1, 1t 2, 1t 3,…, 1t n，角度传感器获取数据的时间戳为 2t 1, 2t 2, 2t 3,…, 2t n，雷达传感器获取雷达数据时刻为 3t 1, 3t 2, 3t 3,…, 3t n。例如，若位置传感器的采样频率为20Hz，则采样时间间隔为50ms，以位置传感器获取数据的第一个时间戳 1t 1为起点，每隔50ms取一个时间点，组成均匀时间序列 1t' 1, 1t' 2, 1t' 3,…, 1t' n。
可选地，步骤201“获取均匀时间序列”的另一种可能的实现方式，包括：根据角度传感器的采样频率确定采样时间间隔；根据采样时间间隔，以角度传感器获取数据的第一个时间戳为起点，确定均匀时间序列。
在本实施例中，如图3所示，也可以根据角度传感器获取数据的时间序列为 2t 1, 2t 2, 2t 3,…, 2t n来确定均匀时间序列，例如，若角度传感器的采样频率为10Hz，则采样间隔为10ms，以角度传感器获取数据的时间序列为 2t 1, 2t 2, 2t 3,…, 2t n的第一个时间点 2t 1为起点，每隔10ms取一个时间点，组成均匀时间序列 1t' 1, 1t' 2, 1t' 3,…, 1t' n。
图4为图2所示实施例中的步骤202的一种可能的实现方式的流程图。如图4所示，步骤202“根据位置传感器获取数据的时间戳和位置传感器获取到的位置信息，确定均匀时间序列对应的位置信息”，包括：
步骤401、根据位置传感器获取数据的时间戳，对位置传感器获取到的位置信息进行插值运算，得到插值后的位置信息。
在本实施例中，如图3所示，可以根据位置传感器获取数据的时间戳 1t 1, 1t 2, 1t 3,…, 1t n，对传感器获取到的位置信息进行插值运算，得到插值后的位置信息。
步骤402、采用预设的滤波参数对插值后的位置信息进行滤波，得到均匀时间序列对应的位置信息。
在本实施例中，为了减小线性插值过程中的误差，可以预先设置一些滤波参数，根据该滤波参数对插值后的位置信息进行滤波，得到均匀时间序列 1t' 1, 1t' 2, 1t' 3,…, 1t' n对应的位 置信息。滤波方式可以为卡尔曼滤波、维纳滤波、非线性滤波等，其中，卡尔曼滤波可以是标准卡尔曼滤波，也可以是类似的扩展卡尔曼滤波(extendedkalman filter，EKF)、无损卡尔曼滤波(unscentedkalman filter，UKF)或粒子滤波等算法。表1为本申请实施例提供的一种卡尔曼滤波参数表。如表1所示，该滤波参数包括状态量X、观测量Z、状态矩阵A、观测矩阵H、过程噪声Q和测量噪声。其中，观测量Z可以为均匀时间序列 1t′ 1, 1t′ 2, 1t′ 3,…, 1t′ n对应的位置信息。
表1
Figure PCTCN2019077020-appb-000001
在本实施例中，利用均匀时间序列 1t' 1, 1t' 2, 1t' 3,…, 1t' n对应的位置信息作为观测量Z，利用表1的参数对插值后的位置信息进行滤波可以得到均匀时间序列对应的位置数据。
本申请实施例提供的移动机器人的雷达数据补偿方法，根据位置传感器获取数据的时间戳，对传感器获取到的位置信息进行插值运算，得到插值后的位置信息，采用预设的滤波参数对插值后的位置信息进行滤波，得到均匀时间序列对应的位置信息，由于采用了滤波参数对插值后的位置信息进行滤波，使得得到的均匀时间序列对应的位置信息更加接近移动机器人的实际位置，能够有效估计移动机器人在任意时刻的位置信息，提高移动机器人的定位精度。
图5为图2所示实施例中的步骤204的一种可能的实现方式的流程图。如图5所示， 步骤204“根据均匀时间序列对应的位置信息和角度信息，确定雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息”，包括：
步骤501、根据均匀时间序列和均匀时间序列对应的角度信息，确定雷达传感器获取数据点时刻。
图6为本申请实施例提供的一种雷达传感器获取数据的时间序列示意图，图6中， 3it 1, 3it 2, 3it 3,…, 3it n为雷达传感器获取数据点时刻， 3t 1, 3t 2, 3t 3,…, 3t n为雷达传感器获取雷达数据时刻，雷达数据获取时刻为雷达传感器每旋转360度对应的时间点，此时雷达传感器将雷达传感器旋转一周(360度)时获取各雷达数据组成一帧数据上传至处理器，该处理器为移动机器人、终端或服务器的处理器。由于雷达传感器的数据和位置传感器的数据是独立获取的，机器人无法直接获取到雷达传感器获取数据点时刻 3it 1, 3it 2, 3it 3,…, 3it n对应的运动数据。位置传感器获取数据的时间间隔一般可以为50ms，由于50ms很短暂，可以认为机器人在一个时间间隔内的速度和位置的变化是均匀的，且，雷达传感器获取的每一帧数据的时间点对应的雷达传感器的旋转角度为360°，可以认为雷达传感器的旋转速度恒定，因此，可以利用均匀时间序列 1t' 1, 1t' 2, 1t' 3,…, 1t' n和均匀时间序列 1t' 1, 1t' 2, 1t' 3,…, 1t' n对应的角度位置，推算出雷达传感器获取数据点时刻 3it 1, 3it 2, 3it 3,…, 3it n。
步骤502、根据均匀时间序列，对均匀时间序列对应的位置信息和角度信息进行插值运算，确定雷达传感器获取数据点时刻的移动机器人的位置信息和角度。
在本实施例中，可以根据均匀时间序列 1t' 1, 1t' 2, 1t' 3,…, 1t' n，对均匀时间序列 1t' 1, 1t' 2, 1t' 3,…, 1t' n对应的位置信息和角度信息进行插值运算，确定雷达传感器获取数据点时刻 3it 1, 3it 2, 3it 3,…, 3it n的移动机器人的位置信息和角度。
可选地，还可以根据均匀时间序列对应的位置信息和角度信息来获得移动机器人的速度，如图7所示，V 径指物体(移动机器人)的运动速度在观察者视线方向的速度分量，即速度矢量在视线方向的投影，V 法指与物体V 径垂直方向的速度分量。图7中的V tot指的是机器人的速度(矢量)，图6中显示的就是沿不同方向的两个速度分量，一个在坐标系x、y轴方向上的分量，另外就是在径向速度和方向速度上的分量。可以根据机器人当前速度在x、y轴方向上的分量V x、V y以及机器人在均匀时间序列 1t' 1, 1t' 2, 1t' 3,…, 1t' n对应的角度信息，计算雷达传感器获取数据点时刻 3it 1, 3it 2, 3it 3,…, 3it n中每个时间点的径向速度V 径和法向速度V 法。
图8为图2所示实施例中的步骤205的一种可能的实现方式的流程图。如图8所示，步骤205“根据雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息，对雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点”，包括：
步骤801、根据雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息与雷达传感器获取雷达数据时刻对应的位置信息和角度信息，确定运动补偿模型；运动补偿模型用于表示障碍点的位置与雷达传感器获取数据点时刻的移动机器人的实际位置之间的 相对关系。
在本实施例中，雷达传感器获取到的雷达数据并不是移动机器人的位置数据和角度数据，需要对雷达数据进行一定的运算处理之后才能得到雷达传感器获取雷达数据时刻对应的位置信息和角度信息。例如，激光雷达传感器的其工作原理是向目标发射探测信号(激光束)，然后将接收到的从目标反射回来的信号(目标回波)，将目标反射回来的信号与发射信号进行比较，作适当处理后，就可获得目标的距离、方位、高度、速度、姿态、甚至形状等参数。
在本实施例中，如图9所示，将雷达传感器获取雷达数据时刻 3t 1, 3t 2, 3t 3,…, 3t n对应的位置信息和角度信息标记为O 0点，坐标为(x 0,y 0,θ 0)，雷达传感器获取数据点时刻 3it 1, 3it 2, 3it 3,…, 3it n中各时间点对应的位置信息和角度信息标记为O 1点，坐标为(x 1,y 1,θ 1)，A点为障碍点，A点的坐标为(x A,y A)，经过运算后，得到A点与O 1点的相对关系为极坐标(ρ A1,ρ A1)，A点与O 0的相对关系为极坐标(ρ A0,ρ A0)，运动补偿模型为(ρ A0,ρ A0)。
其中，各参数计算公式如下：
x A＝x 1+ρ A1*cos(θ 1+θ A1)，
y A＝y 1+ρ A1*sin(θ 1+θ A1)，
Figure PCTCN2019077020-appb-000002
Figure PCTCN2019077020-appb-000003
步骤802、根据运动补偿模型，对雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点。
在本实施例中，采用上述的运动补偿模型对雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点后，将各时间点的数据重新排列成雷达数据传感器的数据格式，作为后续程序的输入数据，例如，将补偿后的数据作为定位建图模型的输入数据。
本实施例提供的移动机器人的雷达数据补偿方法，根据雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息与雷达传感器获取雷达数据时刻对应的位置信息和角度信息，确定运动补偿模型，根据运动补偿模型，对雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点，由于运动补偿模型用于表示障碍点的位置与雷达传感器获取数据点时刻的移动机器人的实际位置之间的相对关系，相当于根据障碍点与移动机器人位置之间的相对关系确定机器人的实际位置，可以有效减少机器人自身运动对雷达数据的影响，提高系统工作的鲁棒性和定位建图的准确性。
可选地，在图8所示实施例的基础上，还可以对各插值运算的结果进行评分，当评分 较高时，进行运动补偿。如图10所示，步骤802“根据运动补偿模型，对雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点”，包括：
步骤1001、确定均匀时间序列对应的位置信息的第一插值评分。
在本实施例中，第一插值评分可以包括对均匀时间序列 1t' 1, 1t' 2, 1t' 3,…, 1t' n中每个时间点对应的位置信息的插值评分和对经过滤波后的位置信息的插值评分。例如，可以对每个均匀时间序列 1t' 1, 1t' 2, 1t' 3,…, 1t' n中每个时间点对应的位置信息进行打分，再对滤波后的位置信息进行评分，求出二者的平均值作为第一插值评分；或者，也可以直接将均匀时间序列 1t' 1, 1t' 2, 1t' 3,…, 1t' n中每个时间点对应的位置信息的插值评分作为第一插值评分值。
其中，第一插值评分值可以包括均匀时间序列 1t' 1, 1t' 2, 1t' 3,…, 1t' n中每个时间点对应的位置信息的插值评分，也可以是均匀时间序列 1t' 1, 1t' 2, 1t' 3,…, 1t' n中所有时间点对应的位置信息的插值评分的平均值。
步骤1002、确定均匀时间序列对应的角度信息的第二插值评分。
在本实施例中，可以对每个均匀时间序列 1t' 1, 1t' 2, 1t' 3,…, 1t' n中每个时间点对应的角度信息进行打分，得到第二插值评分。
其中，第二插值评分可以包括均匀时间序列 1t' 1, 1t' 2, 1t' 3,…, 1t' n中每个时间点对应的角度信息的插值评分，也可以是均匀时间序列 1t' 1, 1t' 2, 1t' 3,…, 1t' n中所有时间点对应的角度信息的插值评分的平均值。
步骤1003、确定雷达传感器获取数据点时刻的移动机器人的位置信息的第三插值评分。
在本实施例中，可以对雷达传感器获取数据点时刻 3it 1, 3it 2, 3it 3,…, 3it n中每个时间点对应的位置信息进行打分，得到第三插值评分。
其中，第三插值评分可以包括雷达传感器获取数据点时刻 3it 1, 3it 2, 3it 3,…, 3it n中每个时间点对应的位置信息的插值评分，也可以是雷达传感器获取数据点时刻 3it 1, 3it 2, 3it 3,…, 3it n中所有时间点对应的位置信息的插值评分的平均值。
步骤1004、根据第一插值评分、第二插值评分和第三插值评分，计算平均插值评分。
步骤1005、若平均插值评分大于预设阈值，则根据运动补偿模型，对雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点。
在本实施例中，由于进行了多次的线性插值运算，使得最终得到的数据会有一定的误差，因此，可以为各插值操作运算进行评分。插值点越接近两端点的插值评分越高，插值点越远离两端点的插值评分越低。将所有插值操作的评分累加，获得最终运动补偿过程的平均插值评分，若该平均插值评分越高说明各插值操作可信度越高，所获得结果的准确性越高，则进行运动补偿工作；若平均插值评分过低说明插值操作误差较大，所获结果存在较大误差，不适宜进行运动补偿工作。
本申请实施例提供的数据补偿方法，确定均匀时间序列对应的位置信息的第一插值评分，确定均匀时间序列对应的角度信息的第二插值评分，确定雷达传感器获取数据点时刻的移动机器人的位置信息的第三插值评分，根据第一插值评分、第二插值评分和第三插值评分，计算平均插值评分，若平均插值评分大于预设阈值，则根据运动补偿模型，对雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点，由于平均插值评分越高说明各插值操作可信度越高，所获得结果的准确性越高，因此，在平均插值评分大于预设阈值时进行运动补偿，可以提高运动补偿的准确性，从而提高机器人系统工作的鲁棒性。
应该理解的是，虽然图2-10的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，图2-10中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些子步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。
图11为本申请实施例提供的一种移动机器人的雷达数据补偿装置的框图，如图11所示，该装置包括：获取模块11、第一确定模块12、第二确定模块13、第三确定模块14和补偿模块15。
获取模块11，用于获取均匀时间序列，所述均匀时间序列的任意两个相邻时间点之间的时间间隔均相等；
第一确定模块12，用于根据位置传感器获取数据的时间戳和所述位置传感器获取到的位置信息，确定所述均匀时间序列对应的位置信息；
第二确定模块13，用于根据角度传感器获取数据的时间戳和所述角度传感器获取到的角度信息，确定所述均匀时间序列对应的角度信息；
第三确定模块14，用于根据所述均匀时间序列对应的位置信息和角度信息，确定雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息；
补偿模块15，用于根据所述雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点。
可选地，所述第一确定模块12具体用于根据所述位置传感器获取数据的时间戳，对所述位置传感器获取到的位置信息进行插值运算，得到插值后的位置信息；采用预设的滤波参数对所述插值后得位置信息进行滤波，得到所述均匀时间序列对应的位置信息。
可选地，所述补偿模块15具体用于根据所述雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息与所述雷达传感器获取雷达数据时刻对应的位置信息和角度信息，确定运动补偿模型；根据所述运动补偿模型，对所述雷达传感器获取雷达数据时刻对 应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点；所述运动补偿模型用于表示障碍点的位置与所述雷达传感器获取数据点时刻的移动机器人的实际位置之间的相对关系。
可选地，所述补偿模块15根据所述运动补偿模型，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点，包括：
所述补偿模块15确定所述均匀时间序列对应的位置信息的第一插值评分；确定所述均匀时间序列对应的角度信息的第二插值评分；确定所述雷达传感器获取数据点时刻的移动机器人的位置信息的第三插值评分；根据所述第一插值评分、所述第二插值评分和所述第三插值评分，计算平均插值评分；若所述平均插值评分大于预设阈值，则根据所述运动补偿模型，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点。
可选地，所述第三确定模块14具体用于根据所述均匀时间序列和所述均匀时间序列对应的角度信息，确定所述雷达传感器获取数据点时刻；根据所述均匀时间序列，对所述均匀时间序列对应的位置信息和角度信息进行插值运算，确定所述雷达传感器获取数据点时刻的移动机器人的位置信息和角度。
可选地，所述获取模块11具体用于根据所述位置传感器的采样频率确定采样时间间隔；根据所述采样时间间隔，以所述位置传感器获取数据的第一个时间戳为起点，确定所述均匀时间序列。
关于上述移动机器人的雷达数据补偿装置的具体限定可以参见上文中对于数据补偿方法的限定，在此不再赘述。上述数据补偿装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于图1所示的机器人、服务器、终端中的处理器中，也可以以软件形式存储于图1所示的机器人、服务器、终端中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
在一个实施例中，提供了一种设备，该计算机设备可以是如图1所示的机器人、服务器或终端，其内部结构图可以如图12所示。该设备包括通过系统总线连接的处理器、存储器、网络接口和数据库。其中，该设备的处理器用于提供计算和控制能力。该设备的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作系统、计算机程序和数据库。该内存储器为非易失性存储介质中的操作系统和计算机程序的运行提供环境。该设备的数据库用于存储各种位置数据、角度数据、时间序列等。该设备的网络接口用于与外部的终端通过网络连接通信。该计算机程序被处理器执行时以实现一种如图2-图10任一实施例所述的数据补偿方法。
本领域技术人员可以理解，图12中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的计算机设备的限定，具体的计算机设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。
在一个实施例中，提供了一种设备，包括存储器和处理器，存储器中存储有计算机程序，该处理器执行计算机程序时实现以下步骤：
获取均匀时间序列，所述均匀时间序列的任意两个相邻时间点之间的时间间隔均相等；
根据位置传感器获取数据的时间戳和所述位置传感器获取到的位置信息，确定所述均匀时间序列对应的位置信息；
根据角度传感器获取数据的时间戳和所述角度传感器获取到的角度信息，确定所述均匀时间序列对应的角度信息；
根据所述均匀时间序列对应的位置信息和角度信息，确定雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息；
根据所述雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点。
在一个实施例中，处理器执行计算机程序时，步骤“所述根据位置传感器获取数据的时间戳和所述位置传感器获取到的位置信息，确定所述均匀时间序列对应的位置信息”，包括：根据所述位置传感器获取数据的时间戳，对所述位置传感器获取到的位置信息进行插值运算，得到插值后的位置信息；采用预设的滤波参数对所述插值后得位置信息进行滤波，得到所述均匀时间序列对应的位置信息。
在一个实施例中，处理器执行计算机程序时，步骤“所述根据所述雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点”，包括：
根据所述雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息与所述雷达传感器获取雷达数据时刻对应的位置信息和角度信息，确定运动补偿模型；所述运动补偿模型用于表示障碍点的位置与所述雷达传感器获取数据点时刻的移动机器人的实际位置之间的相对关系；根据所述运动补偿模型，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点。
在一个实施例中，处理器执行计算机程序时，步骤“所述根据所述运动补偿模型，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点”，包括：确定所述均匀时间序列对应的位置信息的第一插值评分；确定所述均匀时间序列对应的角度信息的第二插值评分；确定所述雷达传感器获取数据点时刻的移动机器人的位置信息的第三插值评分；根据所述第一插值评分、所述第二插值评分和所述第三插值评分，计算平均插值评分；若所述平均插值评分大于预设阈值，则根据所述运动补偿模型，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点。
在一个实施例中，处理器执行计算机程序时，步骤“所述根据所述均匀时间序列对应的位置信息和角度信息，确定雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息”，包括：根据所述均匀时间序列和所述均匀时间序列对应的角度信息，确定所述雷达传感器获取数据点时刻；根据所述均匀时间序列，对所述均匀时间序列对应的位置信息和角度信息进行插值运算，确定所述雷达传感器获取数据点时刻的移动机器人的位置信息和角度。
在一个实施例中，处理器执行计算机程序时，步骤“所述获取均匀时间序列”，包括：根据所述位置传感器的采样频率确定采样时间间隔；根据所述采样时间间隔，以所述位置传感器获取数据的第一个时间戳为起点，确定所述均匀时间序列。
在一个实施例中，提供了一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现以下步骤：
获取均匀时间序列，所述均匀时间序列的任意两个相邻时间点之间的时间间隔均相等；
根据位置传感器获取数据的时间戳和所述位置传感器获取到的位置信息，确定所述均匀时间序列对应的位置信息；
根据角度传感器获取数据的时间戳和所述角度传感器获取到的角度信息，确定所述均匀时间序列对应的角度信息；
根据所述均匀时间序列对应的位置信息和角度信息，确定雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息；
根据所述雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点。
在一个实施例中，计算机程序被处理器执行时，步骤“所述根据位置传感器获取数据的时间戳和所述位置传感器获取到的位置信息，确定所述均匀时间序列对应的位置信息”，包括：根据所述位置传感器获取数据的时间戳，对所述位置传感器获取到的位置信息进行插值运算，得到插值后的位置信息；采用预设的滤波参数对所述插值后得位置信息进行滤波，得到所述均匀时间序列对应的位置信息。
在一个实施例中，计算机程序被处理器执行时，步骤“所述根据所述雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点”，包括：根据所述雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息与所述雷达传感器获取雷达数据时刻对应的位置信息和角度信息，确定运动补偿模型；所述运动补偿模型用于表示障碍点的位置与所述雷达传感器获取数据点时刻的移动机器人的实际位置之间的相对关系；根据所述运动补偿模型，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿 点。
在一个实施例中，计算机程序被处理器执行时，步骤“所述根据所述运动补偿模型，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点”，包括：确定所述均匀时间序列对应的位置信息的第一插值评分；确定所述均匀时间序列对应的角度信息的第二插值评分；确定所述雷达传感器获取数据点时刻的移动机器人的位置信息的第三插值评分；根据所述第一插值评分、所述第二插值评分和所述第三插值评分，计算平均插值评分；若所述平均插值评分大于预设阈值，则根据所述运动补偿模型，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点。
在一个实施例中，计算机程序被处理器执行时，步骤“所述根据所述均匀时间序列对应的位置信息和角度信息，确定雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息”，包括：根据所述均匀时间序列和所述均匀时间序列对应的角度信息，确定所述雷达传感器获取数据点时刻；根据所述均匀时间序列，对所述均匀时间序列对应的位置信息和角度信息进行插值运算，确定所述雷达传感器获取数据点时刻的移动机器人的位置信息和角度。
在一个实施例中，计算机程序被处理器执行时，步骤“所述获取均匀时间序列”，包括：根据所述位置传感器的采样频率确定采样时间间隔；根据所述采样时间间隔，以所述位置传感器获取数据的第一个时间戳为起点，确定所述均匀时间序列。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和/或易失性存储器。非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)或者外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，诸如静态RAM(SRAM)、动态RAM(DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDRSDRAM)、增强型SDRAM(ESDRAM)、同步链路(Synchlink)DRAM(SLDRAM)、存储器总线(Rambus)直接RAM(RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)等。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范 围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (14)

  1. 一种移动机器人的雷达数据补偿方法，其特征在于，所述方法包括：
    获取均匀时间序列，所述均匀时间序列的任意两个相邻时间点之间的时间间隔均相等；
    根据位置传感器获取数据的时间戳和所述位置传感器获取到的位置信息，确定所述均匀时间序列对应的位置信息；
    根据角度传感器获取数据的时间戳和所述角度传感器获取到的角度信息，确定所述均匀时间序列对应的角度信息；
    根据所述均匀时间序列对应的位置信息和角度信息，确定雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息；
    根据所述雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息，对所述雷达传感器获取的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点。
  2. 根据权利要求1所述的方法，其特征在于，所述根据位置传感器获取数据的时间戳和所述位置传感器获取到的位置信息，确定所述均匀时间序列对应的位置信息，包括：
    根据所述位置传感器获取数据的时间戳，对所述位置传感器获取到的位置信息进行插值运算，得到插值后的位置信息；
    采用预设的滤波参数对所述插值后得位置信息进行滤波，得到所述均匀时间序列对应的位置信息。
  3. 根据权利要求1或2所述的方法，其特征在于，所述根据所述雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息，对所述雷达传感器获取的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点，包括：
    根据所述雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息与所述雷达传感器获取雷达数据时刻对应的位置信息和角度信息，确定运动补偿模型；所述运动补偿模型用于表示障碍点的位置与所述雷达传感器获取数据点时刻的移动机器人的实际位置之间的相对关系；
    根据所述运动补偿模型，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点。
  4. 根据权利要求3所述的方法，其特征在于，所述根据所述运动补偿模型，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点，包括：
    确定所述均匀时间序列对应的位置信息的第一插值评分；
    确定所述均匀时间序列对应的角度信息的第二插值评分；
    确定所述雷达传感器获取数据点时刻的移动机器人的位置信息的第三插值评分；
    根据所述第一插值评分、所述第二插值评分和所述第三插值评分，计算平均插值评分；
    若所述平均插值评分大于预设阈值，则根据所述运动补偿模型，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点。
  5. 根据权利要求1或2所述的方法，所述根据所述均匀时间序列对应的位置信息和角度信息，确定雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息，包括：
    根据所述均匀时间序列和所述均匀时间序列对应的角度信息，确定所述雷达传感器获取数据点时刻；
    根据所述均匀时间序列，对所述均匀时间序列对应的位置信息和角度信息进行插值运算，确定所述雷达传感器获取数据点时刻的移动机器人的位置信息和角度。
  6. 根据权利要求1或2所述的方法，其特征在于，所述获取均匀时间序列，包括：
    根据所述位置传感器的采样频率确定采样时间间隔；
    根据所述采样时间间隔，以所述位置传感器获取数据的第一个时间戳为起点，确定所述均匀时间序列。
  7. 一种移动机器人的雷达数据补偿装置，其特征在于，包括：
    获取模块，用于获取均匀时间序列，所述均匀时间序列的任意两个相邻时间点之间的时间间隔均相等；
    第一确定模块，用于根据位置传感器获取数据的时间戳和所述位置传感器获取到的位置信息，确定所述均匀时间序列对应的位置信息；
    第二确定模块，用于根据角度传感器获取数据的时间戳和所述角度传感器获取到的角度信息，确定所述均匀时间序列对应的角度信息；
    第三确定模块，用于根据所述均匀时间序列对应的位置信息和角度信息，确定雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息；
    补偿模块，用于根据所述雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点。
  8. 根据权利要求7所述的装置，其特征在于，所述第一确定模块具体用于根据所述位置传感器获取数据的时间戳，对所述位置传感器获取到的位置信息进行插值运算，得到插值后的位置信息；采用预设的滤波参数对所述插值后得位置信息进行滤波，得到所述均匀时间序列对应的位置信息。
  9. 根据权利要求7或8所述的装置，其特征在于，所述补偿模块具体用于根据所述雷达传感器获取数据点时刻的移动机器人的位置信息和角度信息与所述雷达传感器获取雷达数据时刻对应的位置信息和角度信息，确定运动补偿模型；根据所述运动补偿模型，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点；所述运动补偿模型用于表示障碍点的位置与所述雷达传感器获取数据点时刻的移动机器人的实际位置之间的相对关系。
  10. 根据权利要求9所述的装置，其特征在于，所述补偿模块根据所述运动补偿模型，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点，包括：
    所述补偿模块确定所述均匀时间序列对应的位置信息的第一插值评分；确定所述均匀时间序列对应的角度信息的第二插值评分；确定所述雷达传感器获取数据点时刻的移动机器人的位置信息的第三插值评分；根据所述第一插值评分、所述第二插值评分和所述第三插值评分，计算平均插值评分；若所述平均插值评分大于预设阈值，则根据所述运动补偿模型，对所述雷达传感器获取雷达数据时刻对应的各雷达数据点进行补偿，以得到雷达数据获取时刻对应的各雷达数据点的运动补偿点。
  11. 根据权利要求7或8所述的装置，其特征在于，所述第三确定模块具体用于根据所述均匀时间序列和所述均匀时间序列对应的角度信息，确定所述雷达传感器获取数据点时刻；根据所述均匀时间序列，对所述均匀时间序列对应的位置信息和角度信息进行插值运算，确定所述雷达传感器获取数据点时刻的移动机器人的位置信息和角度。
  12. 根据权利要求7或8所述的装置，其特征在于，所述获取模块具体用于根据所述位置传感器的采样频率确定采样时间间隔；根据所述采样时间间隔，以所述位置传感器获取数据的第一个时间戳为起点，确定所述均匀时间序列。
  13. 一种设备，包括存储器和处理器，所述存储器存储有计算机程序，其特征在于，所述处理器执行所述计算机程序时实现权利要求1至6中任一项所述方法的步骤。
  14. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现权利要求1至6中任一项所述的方法的步骤。
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