WO2022000209A1 - Procédé de positionnement et dispositif de positionnement - Google Patents

Procédé de positionnement et dispositif de positionnement Download PDF

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Publication number
WO2022000209A1
WO2022000209A1 PCT/CN2020/099036 CN2020099036W WO2022000209A1 WO 2022000209 A1 WO2022000209 A1 WO 2022000209A1 CN 2020099036 W CN2020099036 W CN 2020099036W WO 2022000209 A1 WO2022000209 A1 WO 2022000209A1
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WO
WIPO (PCT)
Prior art keywords
positioning
wireless
distribution type
drone
indication information
Prior art date
Application number
PCT/CN2020/099036
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English (en)
Chinese (zh)
Inventor
王焱
龚明
马宁
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2020/099036 priority Critical patent/WO2022000209A1/fr
Publication of WO2022000209A1 publication Critical patent/WO2022000209A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/215—Motion-based segmentation

Definitions

  • the embodiments of the present application relate to the field of unmanned aerial vehicles, and in particular, to a positioning method and a positioning device.
  • UAVs unmanned aerial vehicles, unmanned vehicles, or unmanned ships, etc.
  • devices to be located such as one or more of remote controllers, smartphones, tablet computers, and wearable devices.
  • the drone In order to realize the functions of the drone (such as high-light shooting, target tracking, etc.), the drone needs to know the location information of the device to be located.
  • the drone can use images or sounds to capture the target of the equipment to be located within a certain identifiable range, and determine the position of the equipment to be located through image recognition and sound recognition.
  • the positioning range of the UAV through image recognition and sound recognition is limited, and the environment where the device to be positioned is relatively high, which cannot meet the actual needs.
  • the embodiments of the present application provide a positioning method and a positioning device, so as to solve the problem that the device to be located in the prior art needs to rely on the image recognition and sound recognition of the drone to determine the position between the drone and the drone, and the identification Technical problems with limited scope and strict requirements for the environment where the device to be located is located, and the positioning conditions are limited.
  • a first aspect of the embodiments of the present application is to provide a positioning method, including:
  • the device to be located is provided with a wireless positioning label
  • the drone includes a wireless positioning base station and a positioning sensor
  • the method includes:
  • the position of the device to be positioned is determined.
  • a second aspect of the embodiments of the present application is to provide a positioning device, the positioning device is used to determine the position of the device to be located, and a wireless positioning label is set on the device to be located, characterized in that the drone includes a wireless positioning base station and positioning sensor;
  • the positioning device includes: a memory and a processor
  • the memory is used to store program codes
  • the processor calls the program code, and when the program code is executed, is configured to perform the following operations:
  • the position of the device to be positioned is determined according to the wireless signal communication between the wireless positioning tag and the wireless positioning base station when the drone moves to each position point and the position of the drone.
  • the positioning method and positioning device provided in this embodiment are different from the prior art in which the UAV and the device to be located use image recognition and voice recognition for positioning, but control the UAV to move to multiple positions respectively, so as to utilize the wireless
  • the wireless positioning base station of the man-machine communicates with the wireless positioning tag of the equipment to be located, and the position of the unmanned aerial vehicle obtained by the positioning sensor of the unmanned aerial vehicle is combined to determine the position of the equipment to be located.
  • the positioning of the device to be positioned by the drone no longer depends on the image capture and sound capture of the device to be positioned, which effectively expands the positioning range of the drone when positioning the device to be positioned, and meets the positioning needs in various scenarios.
  • FIG. 1 is a schematic diagram of a system architecture on which this application is based;
  • FIG. 2 is a schematic diagram of another system architecture on which the application is based
  • FIG. 3 is a schematic diagram of yet another system architecture on which the application is based
  • FIG. 4 is a schematic flowchart of a positioning method provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a first scenario of a positioning method provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of a second scenario of a positioning method provided by an embodiment of the present application.
  • FIG. 7 is a schematic diagram of a third scenario of a positioning method provided by an embodiment of the present application.
  • FIG. 8 is a schematic diagram of a fourth scenario of a positioning method provided by an embodiment of the present application.
  • FIG. 9 is a schematic diagram of a fifth scenario of a positioning method provided by an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a positioning device provided by the present invention.
  • a component when referred to as being "fixed to" another component, it can be directly on the other component or there may also be a centered component.
  • a component When a component is considered to be “connected” to another component, it may be directly connected to the other component or there may be a co-existence of an intervening component.
  • the device to be located needs to rely on the image recognition and sound recognition of the UAV to determine the position between it and the UAV.
  • embodiments of the present application provide a positioning method and a positioning device.
  • the positioning method and positioning device provided by the present application can be applied in any scenario of positioning the device to be positioned based on the drone.
  • the system architecture on which this application is based at least includes: an unmanned aerial vehicle 1, a device to be positioned 2, and a positioning device 3.
  • the device 2 to be positioned is provided with a wireless positioning tag 21
  • the drone 1 includes a wireless positioning base station 11 and a positioning sensor 12
  • the positioning device 3 is in communication connection with the drone 1 and the device to be positioned 2 respectively.
  • the device 2 to be located includes but is not limited to one or more of a remote control, a smartphone, a tablet computer, and a wearable device
  • the drone 1 includes but is not limited to an unmanned aerial vehicle, an unmanned vehicle or an unmanned aerial vehicle. boats etc.
  • the connection relationship between the positioning device 3 and the two will change accordingly.
  • FIG. 1 is a schematic diagram of a system architecture on which the application is based.
  • a positioning device 3 can be integrated and installed on the UAV 1, and can be connected through a wired Or the wireless communication connection performs data interaction with the wireless positioning base station 11 and the positioning sensor 12 on the UAV 1, and performs data interaction with the wireless positioning tag 21 of the device to be positioned 2 through wireless communication connection.
  • FIG. 2 is a schematic diagram of another system architecture on which the application is based.
  • the positioning device 3 can be integrated and installed on the device to be located 2
  • the wired or wireless communication connection performs data interaction with the wireless positioning tag 21 on the device 2 to be positioned, and performs data interaction with the wireless positioning base station 11 and the positioning sensor 12 of the drone 1 through wired or wireless communication connection.
  • FIG. 3 is a schematic diagram of yet another system architecture on which the present application is based.
  • the positioning device 3 can be integrated in the cloud server, and the positioning device 3 can be integrated into the cloud server through wired or wireless
  • the communication connection of the device 2 performs data interaction with the wireless positioning tag 21 on the device to be positioned 2 and the wireless positioning base station 11 and positioning sensor 12 on the UAV 1 respectively.
  • the embodiment of the present application provides a positioning method for determining the position of the device 2 to be positioned.
  • FIG. 4 is a schematic flowchart of a positioning method provided by an embodiment of the present application. As shown in FIG. 4 , the positioning method includes:
  • Step 101 control the drone to move to a plurality of positions respectively.
  • the execution body of this embodiment is the aforementioned positioning device. Before executing this embodiment, the positioning device should be connected to the drone and the device to be positioned respectively.
  • the positioning device will first control the UAV to move, so that the UAV moves to different positions respectively.
  • the UAV can move in a preset automatic motion mode, or manually. Mode controls the drone for movement.
  • the number of the location points may be multiple, and the specific distribution of the location points may be different according to different on-site conditions where the device to be located and the drone are located, which is not limited in this embodiment.
  • the distance between the multiple location points is greater than or equal to a preset distance threshold.
  • a preset distance threshold since the position of the UAV is obtained by the positioning sensor of the UAV when the UAV reaches the position point, considering the error in its positioning, when the distribution of the position points is relatively scattered, the The obtained position of the device to be positioned is relatively accurate. On the contrary, when the distribution of the position points is relatively concentrated, the position of the device to be positioned obtained through the position point is relatively inaccurate.
  • Step 102 Obtain the position of the UAV output by the positioning sensor when the UAV moves to each position point.
  • the drone moves to different locations under the control of the positioning device.
  • the location sensor on the drone obtains the location of the drone, and the location sensor will obtain the location of the drone.
  • the position of the drone is sent to the positioning device for it to obtain.
  • the positioning sensor may include a visual sensor, an inertial measurement unit, etc., and may also include a GPS positioning sensor or an RTK positioning device. Correspondingly, when the positioning sensor is different, the data type of the position of the drone is also different accordingly.
  • Step 103 Determine the position of the device to be located according to the wireless signal communication between the wireless positioning tag and the wireless positioning base station when the drone moves to each position point and the position of the drone.
  • the wireless positioning tag on the device to be positioned communicates with the drone wirelessly.
  • the positioning device will determine and obtain the position of the device to be positioned based on the result of the wireless signal communication and the position of the UAV obtained in step 102 .
  • the step of determining the position of the device to be positioned may include: determining the relative position between the device to be positioned and the drone based on wireless signal communication, and determining the position of the device to be positioned based on the relative position and the position of the drone .
  • a variety of ranging methods based on wireless signal communication can be used, including but not limited to ToF ranging method, PDoA ranging method and TDoA ranging method ranging, etc.
  • the wireless positioning base station is a UWB positioning base station
  • the wireless positioning tag is a UWB positioning tag
  • the wireless signal communication between the wireless positioning tag and the wireless positioning base station is UWB signal communication.
  • the wireless positioning tag on the device to be positioned can be used to transmit positioning signals, and correspondingly, the positioning device will acquire the wireless positioning base station when the drone moves to each location point.
  • the positioning signal sent by the wireless positioning tag; the position of the device to be positioned is determined according to the positioning signal and the position of the drone.
  • the wireless signal communication between the device to be located and the drone can be actively initiated by the wireless positioning tag of the device to be located, that is, the wireless positioning tag transmits a positioning signal to the wireless positioning base station of the drone .
  • the wireless positioning base station of the drone can actively initiate a positioning broadcast signal in the form of broadcasting, and when the wireless positioning tag of the device to be positioned receives the positioning broadcast signal, the positioning broadcast signal Respond to enable wireless signal communication between the two.
  • the wireless positioning base station of the drone and the wireless positioning tag of the device to be positioned can also use a double-sided signal transmission method to complete wireless signal communication.
  • a double-sided signal transmission method to complete wireless signal communication.
  • the type of the position of the device to be located is not limited, that is to say, in an optional embodiment, the position of the device to be located in step 103 is the position relative to the UAV or absolute position.
  • the positioning sensor in the drone may specifically use a visual sensor, an inertial measurement unit, or the like. That is, the positioning device can determine the distance between the device to be located and the UAV based on wireless signal communication, and then based on the relative position and combined with the UAV's own angle or attitude determined by the visual sensor, inertial measurement unit, etc., determine the to-be-located device. The location of the device relative to the drone.
  • the position of the device to be positioned is an absolute position, it can generally be a geographic coordinate, and the positioning sensor in the UAV can specifically use a GPS positioning sensor or an RTK positioning device. That is, the positioning device can determine the relative distance between the device to be located and the UAV based on wireless signal communication, and then based on the relative distance and combined with the UAV's own geographic location determined by GPS positioning sensors or RTK positioning devices, determine the to-be-located location. The absolute geographic location of the device.
  • FIG. 5 is a schematic diagram of a first scenario of a positioning method provided by an embodiment of the present application.
  • the positioning sensor of the UAV includes a satellite positioning device, and the satellite positioning device can be obtained by using a satellite positioning system The location coordinates of the drone.
  • the positioning device may first obtain the position coordinates of the drone output by the satellite positioning device when the drone moves to each position point (the position coordinates of positions A, B, C and D as shown in FIG. 5 ).
  • the drone obtains wireless signal communication with the wireless positioning tag to obtain the relative position of the wireless positioning tag relative to the position point.
  • the positioning device will obtain the relative position according to the wireless signal communication between the wireless positioning tag and the wireless positioning base station when the drone is at each location point, and the satellite positioning device at the drone.
  • the position coordinates of multiple drones output when moving to each position point determine the absolute position of the device to be positioned.
  • the wireless signal communication between the wireless positioning tag on the device to be positioned and the wireless positioning base station of the UAV can be used to establish the positional relationship between the two based on the wireless signal communication, and then based on such a position
  • the relationship and the position of the UAV itself, to determine the position of the device to be located can make the UAV's positioning of the device to be located no longer depend on the image capture and sound capture of the device to be located, but effectively expand the UAV's ability to be determined.
  • the locatable range when positioning the device can meet the positioning requirements in various scenarios.
  • the positioning method provided by the present application can be triggered based on a positioning instruction.
  • the device to be positioned can generate a positioning command, which can be responded by the positioning device to control the drone to move to multiple positions.
  • the positioning instruction it may be generated when the user triggers the drone function of the control terminal, for example, when the control terminal detects the user's positioning start operation, the positioning instruction is generated.
  • the positioning method and the corresponding positioning function can be triggered only when the function triggered by the user needs to locate the device to be positioned, otherwise, the positioning device can be in a dormant state.
  • the positioning device may determine whether the signal state of the device to be positioned meets the transmission and reception conditions of the wireless signal communication. If it is satisfied, the positioning device controls the drone to move to multiple locations. When the drone moves to each location point, wireless signal communication is performed between the wireless location tag and the wireless location base station to determine the location of the device to be located. Location.
  • the determination of the signal state can be based on signal strength, signal frequency, etc. For details, please refer to the related method of whether the signal state meets the transmission and reception conditions of wireless signal communication in the prior art, which is not limited in this application.
  • the device to be positioned may be the device to be captured, or tracked devices.
  • the drone performs high-light shooting or target tracking, it needs to determine the position of the device to be located so that it can perform the corresponding task.
  • the positioning device will obtain the position of the device to be positioned, and then the positioning device will control the UAV to move according to the determined position of the device to be positioned, so that the UAV follows (as shown in the figure) 6) or surround the device to be positioned.
  • the positioning method can also be applied to a scene in which the posture of the photographing device on the UAV is adjusted based on the position of the device to be positioned.
  • the positioning device can control the photographing posture of the photographing device according to the determined position of the device to be located, so that the device to be located is located on the photographing screen of the photographing device middle. That is to say, based on the position of the device to be positioned, the position of the drone, the posture of the drone, and the posture of the pan/tilt carrying the photographing device on the drone can be controlled, and the posture of the photographing device can be realized. control.
  • FIG. 7 is a schematic diagram of a third scenario of a positioning method provided by an embodiment of the present application.
  • the positioning method can also be applied to a project with a device to be positioned as the main body Measurement scenarios, narrow lane rescue scenarios, etc.
  • the device to be positioned needs to determine its own position to move and perform corresponding measurement tasks or rescue tasks.
  • a rescue device with a smaller size is required in a narrow-lane rescue scenario, or for engineering measurements in a wilderness environment, where there are few base stations and cannot meet the requirements.
  • the positioning device can also control the movement of the device to be positioned.
  • the device to be positioned may include a power system, and the device to be positioned is a device moved by the power system, such as an aircraft or a moving vehicle with a moving function.
  • the positioning device will control the power system to move the device to be positioned according to the determined position of the device to be positioned.
  • the drone will be used as a movable positioning base station, that is, the positioning sensor of the drone itself is used in combination with the wireless signal communication technology, so that the The device to be positioned does not need to interact with the ground base station, but can also obtain its own position, and control its own movement and implement functions based on the obtained own position.
  • the embodiment of the present application also includes corresponding adjustment for the distribution of the position points.
  • the shape distribution of the target to be measured will affect the distribution of the position points. It can be understood that when the target to be measured is distributed in the horizontal direction, the positional accuracy of the measuring device (device to be positioned) in the horizontal direction is relatively high to ensure its measurement accuracy; similarly, when the target to be measured is When distributed in the vertical direction, the positional accuracy of the measuring device (device to be positioned) in the vertical direction is required to be relatively high to ensure its measurement accuracy.
  • the positioning method provided by this application also includes:
  • Step 200 Obtain the distribution type indication information of the location points generated by the device to be located.
  • the distribution type indication information is generated by the device to be located by detecting the user's selection operation of the distribution type.
  • the device to be positioned When the device to be positioned includes a power system and a sensor for observing the environment where the device to be positioned is located, the device to be positioned is a device that moves through the power system, and correspondingly, the distribution type indication information is the The device to be positioned is generated according to the sensor data collected by the sensor.
  • step 101 specifically includes:
  • Step 201 Determine a plurality of location points according to the distribution type indicated by the distribution type indication information.
  • Step 202 controlling the UAV to move to the multiple position points respectively.
  • step 201 when the distribution type indication information is the first distribution type indication information, a plurality of location points are determined according to the first distribution type indicated by the first distribution type indication information;
  • the indication information is the second distribution type indication information, a plurality of location points are determined according to the second distribution type indicated by the second distribution type indication information, wherein the first distribution type is different from the second distribution type.
  • the distribution type of the location points can be set by itself according to the actual situation, for example, the horizontal distribution type (the first distribution type) or the vertical distribution type (the second distribution type) and so on.
  • FIG. 8 and FIG. 9 are schematic diagrams of a fourth scenario and a fifth scenario of a positioning method provided by an embodiment of the present application, respectively. Under different distribution types, the distribution of the location points will be correspondingly different, for example, as shown in FIG. 8 , the heights of multiple location points are the same under the horizontal distribution type (the first distribution type); while as shown in FIG. 9 , under the vertical distribution type (the second distribution type), at least two of the multiple location points have heights different.
  • the positioning method provided in this embodiment is different from the prior art in which the UAV and the device to be located use image recognition and voice recognition to locate, but control the UAV to move to multiple positions respectively, so as to utilize the UAV's positioning method.
  • the wireless positioning base station communicates wirelessly with the wireless positioning tag of the device to be positioned, and determines the position of the device to be positioned by combining the position of the drone obtained by the positioning sensor of the drone.
  • the positioning of the positioning device no longer depends on the image capture and sound capture of the device to be positioned, which effectively expands the locating range of the UAV for positioning the device to be positioned, and meets the positioning requirements in various scenarios.
  • FIG. 10 is a schematic structural diagram of a positioning device provided by the present invention. As shown in FIG. 10 , the positioning device is used to determine the position of the device to be located, and a wireless positioning tag is set on the device to be located. It is characterized in that the drone includes Wireless positioning base stations and positioning sensors;
  • the positioning device includes: a memory 81 and a processor 82;
  • the memory 81 is used to store program codes
  • the processor 82 calls the program code, and when the program code is executed, is used to perform the following operations:
  • the position of the device to be positioned is determined according to the wireless signal communication between the wireless positioning tag and the wireless positioning base station when the drone moves to each position point and the position of the drone.
  • the wireless positioning tag is used to transmit a positioning signal
  • the processor 82 is also used to:
  • the position of the device to be positioned is determined.
  • the position of the device to be positioned is a position relative to the drone or an absolute position.
  • the positioning sensor includes a satellite positioning device
  • the processor 82 is further configured to:
  • the wireless signal communication between the wireless positioning tag and the wireless positioning base station when the drone is at each position point, and the satellite positioning device when the drone moves to each position point The position coordinates of a plurality of UAVs are output at the time, and the absolute position of the device to be positioned is determined.
  • the processor 82 is further configured to:
  • the step of controlling the drone to move to a plurality of location points performs wireless signal communication between the wireless location tag and the wireless location base station when the drone moves to each location point.
  • the processor 82 is further configured to:
  • the UAV In response to the positioning instruction, the UAV is controlled to move to the plurality of position points respectively.
  • the device to be located is a control terminal of an unmanned aerial vehicle, wherein the positioning instruction is generated by the control terminal detecting a user's positioning activation operation.
  • the processor 82 is further configured to:
  • the drone is controlled to move, so that the drone follows or surrounds the device to be located.
  • the UAV includes a photographing device, and the processor 82 is further used for:
  • the photographing posture of the photographing device is controlled, so that the device to be located is located in the photographing screen of the photographing device.
  • the wireless positioning base station is a UWB positioning base station
  • the wireless positioning tag is a UWB positioning tag
  • the wireless signal communication between the wireless positioning tag and the wireless positioning base station is UWB signal communication.
  • the device to be positioned is the control terminal of the drone.
  • the device to be positioned includes a power system, and the device to be positioned is a device moved by the power system.
  • the processor 82 is further configured to: control the power system according to the determined position of the device to be positioned so as to move the device to be positioned.
  • the distance between the multiple location points is greater than or equal to a preset distance threshold.
  • the processor 82 is also used to:
  • the drones are controlled to move to the plurality of position points respectively.
  • the processor 82 is also used to:
  • the distribution type indication information is the first distribution type indication information, determining a plurality of location points according to the first distribution type indicated by the first distribution type indication information;
  • the distribution type indication information is the second distribution type indication information
  • a plurality of location points are determined according to the second distribution type indicated by the second distribution type indication information, wherein the first distribution type is different from the first distribution type Two distribution types.
  • the heights of the multiple location points of the first distribution type are the same, and at least two of the multiple location points of the second distribution type have different heights.
  • the device to be located is a control terminal of the drone, and the distribution type indication information is generated by the device to be located by detecting a user's selection operation of the distribution type.
  • the device to be positioned includes a power system and a sensor for observing the environment where the device to be positioned is located, and the device to be positioned is a device that moves through the power system,
  • the distribution type indication information is that the device to be located is generated according to the sensing data collected by the sensor.
  • this embodiment further provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to implement the positioning method described in the foregoing embodiment.
  • the disclosed apparatus and method may be implemented in other manners.
  • the apparatus embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit may be implemented in the form of hardware, or may be implemented in the form of hardware plus software functional units.
  • the above-mentioned integrated units implemented in the form of software functional units can be stored in a computer-readable storage medium.
  • the above-mentioned software function unit is stored in a storage medium, and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute the methods described in the various embodiments of the present application. some steps.
  • the aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program codes .

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  • Multimedia (AREA)
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Abstract

Des modes de réalisation de la présente demande fournissent un procédé de positionnement et un dispositif de positionnement. Le procédé consiste à : commander un véhicule aérien sans pilote pour qu'il se déplace respectivement vers de multiples positions, de manière à réaliser une communication de signal sans fil en utilisant une station de base de positionnement sans fil du véhicule aérien sans pilote et une étiquette de positionnement sans fil d'un dispositif à positionner, et déterminer, par combinaison de la position du véhicule aérien sans pilote obtenue par un capteur de positionnement du véhicule aérien sans pilote, la position du dispositif à positionner. Dans les modes de réalisation de la présente demande, au moyen d'un tel procédé de positionnement, le positionnement réalisé par le véhicule aérien sans pilote sur le dispositif à positionner ne dépend plus d'une capture d'image et d'une capture vocale pour le dispositif à positionner, de telle sorte que la plage positionnable pendant le positionnement réalisé par le véhicule aérien sans pilote sur le dispositif à positionner est efficacement étendue, et les exigences de positionnement dans de multiples scénarios sont satisfaites.
PCT/CN2020/099036 2020-06-29 2020-06-29 Procédé de positionnement et dispositif de positionnement WO2022000209A1 (fr)

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CN108549098A (zh) * 2018-04-24 2018-09-18 湘潭大学 一种室内变电站巡检无人机定位方法
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CN108845587A (zh) * 2018-06-08 2018-11-20 赫星科技有限公司 无人机实时操控系统及无人机

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