CN112393720A - Target equipment positioning method and device, storage medium and electronic device - Google Patents

Target equipment positioning method and device, storage medium and electronic device Download PDF

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CN112393720A
CN112393720A CN201910755327.2A CN201910755327A CN112393720A CN 112393720 A CN112393720 A CN 112393720A CN 201910755327 A CN201910755327 A CN 201910755327A CN 112393720 A CN112393720 A CN 112393720A
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positioning
target equipment
point cloud
positioning module
positioning information
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CN112393720B (en
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不公告发明人
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Ninebot Beijing Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
    • G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
    • G06V10/757—Matching configurations of points or features
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds

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  • Radar, Positioning & Navigation (AREA)
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  • Automation & Control Theory (AREA)
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Abstract

The invention provides a method and a device for positioning target equipment, a storage medium and an electronic device, wherein the method comprises the following steps: the method comprises the steps that a first positioning module on target equipment is used for obtaining positioning information of the target equipment in the moving process of the target equipment; detecting whether the first positioning module can not successfully acquire the positioning information of the target equipment for a plurality of continuous periods or for a first preset time; and under the condition that the first positioning module is detected to be incapable of successfully acquiring the positioning information of the target equipment for a plurality of continuous periods or more than a first preset time, acquiring the positioning information of the target equipment by using a second positioning module on the target equipment. By the method and the device, the problem that the robustness of the positioning to the scene change is poor is solved, and the effect of accurately positioning the unmanned vehicle in different scenes is achieved.

Description

Target equipment positioning method and device, storage medium and electronic device
Technical Field
The present invention relates to the field of communications, and in particular, to a method and an apparatus for positioning a target device, a storage medium, and an electronic apparatus.
Background
In the existing positioning method, some geometric standards are set to select characteristic points, and the characteristic points are matched in a laser characteristic point map established in advance by using a point cloud matching algorithm to obtain the current pose. The method has the defects of long calculation time, low robustness to scene change and need of an initial value as an input.
In view of the above technical problems, no effective solution has been proposed in the related art.
Disclosure of Invention
The embodiment of the invention provides a method for positioning target equipment, which is used for at least solving the problem of poor robustness of positioning to scene change in the related technology.
According to an embodiment of the present invention, there is provided a target device positioning method including: the method comprises the steps that a first positioning module on target equipment is used for obtaining positioning information of the target equipment in the moving process of the target equipment, wherein the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target equipment and obtaining the positioning information of the target equipment according to a feature vector of the point cloud data of the object; detecting whether the first positioning module can not successfully acquire the positioning information of the target equipment for a plurality of continuous periods or for a first preset time; and under the condition that the first positioning module is detected to be incapable of successfully acquiring the positioning information of the target equipment continuously for the plurality of periods or for the time exceeding the first preset time, acquiring the positioning information of the target equipment by using a second positioning module on the target equipment, wherein the second positioning module is used for carrying out feature matching on the point cloud data sensed by the optical sensor and a point cloud data set acquired in advance, and acquiring the positioning information of the target equipment according to a matching result obtained by the feature matching.
Optionally, in the process of obtaining the location information of the target device by using the second location module on the target device, the method further includes: continuously using the first positioning module to obtain the positioning information of the target equipment; after the first positioning module continues to be used to obtain the positioning information of the target device, the method further includes: and stopping acquiring the positioning information of the target device by using the second positioning module when the first positioning module is used for successfully acquiring the positioning information of the target device.
Optionally, after the second positioning module on the target device is used to obtain the positioning information of the target device, the method further includes: under the condition that the second positioning module cannot successfully acquire the positioning information of the target equipment, acquiring the positioning information of the target equipment by using a laser odometer on the target equipment; or, after the positioning information of the target device is acquired for the first time, under the condition that the positioning information of the target device cannot be acquired successfully by the second positioning module for a plurality of continuous cycles or for a second preset time, acquiring the positioning information of the target device by using a laser odometer on the target device.
Optionally, in the process of acquiring the positioning information of the target device by using a laser odometer on the target device, the method further includes: continuously using the first positioning module to obtain the positioning information of the target equipment; after the first positioning module continues to be used to obtain the positioning information of the target device, the method further includes: and stopping acquiring the positioning information of the target equipment by using the laser odometer under the condition that the positioning information of the target equipment is successfully acquired by using the first positioning module.
Optionally, the obtaining the positioning information of the target device by using the first positioning module on the target device includes: the local point cloud map formed by point cloud data sensed by the optical sensor when the target device runs for a preset distance is obtained through the first positioning module; performing point cloud segmentation on the object in the local point cloud map through the first positioning module to obtain a feature vector of point cloud data of the object; matching the characteristic vector of the point cloud data of the object with the characteristic vector of the point cloud data of different objects in a pre-established map through the first positioning module to determine a target object corresponding to the object in the different objects; and determining the positioning information of the target equipment according to the position of the target object in the map by the first positioning module.
Optionally, the obtaining, by using a second positioning module on the target device, the positioning information of the target device further includes: acquiring point cloud data sensed by the optical sensor through the second positioning module; performing feature matching on the point cloud data sensed by the optical sensor and the point cloud data of different objects in a pre-established map through the second positioning module to obtain a matching result; and acquiring the positioning information of the target equipment according to the matching result through the second positioning module.
According to another embodiment of the present invention, there is provided a target device positioning method including: the method comprises the steps that a second positioning module on target equipment is used for obtaining positioning information of the target equipment in the moving process of the target equipment, wherein the second positioning module is used for carrying out feature matching on point cloud data sensed by an optical sensor on the target equipment and a point cloud data set obtained in advance, and obtaining the positioning information of the target equipment according to a matching result obtained by the feature matching; detecting whether the second positioning module can not successfully acquire the positioning information of the target equipment for a plurality of continuous periods or for a second preset time; and under the condition that the second positioning module is detected to be incapable of successfully acquiring the positioning information of the target equipment continuously for the plurality of periods or for the second preset time, acquiring the positioning information of the target equipment by using a first positioning module on the target equipment, wherein the first positioning module is used for performing point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target equipment, and acquiring the positioning information of the target equipment according to a feature vector of the point cloud data of the object.
Optionally, in the process of acquiring the positioning information of the target device by using the first positioning module on the target device, the method further includes: continuously using the second positioning module to obtain the positioning information of the target equipment; after the second positioning module continues to be used to obtain the positioning information of the target device, the method further includes: and stopping acquiring the positioning information of the target device by using the first positioning module when the second positioning module is used for successfully acquiring the positioning information of the target device.
Optionally, after the obtaining the positioning information of the target device by using the first positioning module on the target device, the method further includes: under the condition that the first positioning module cannot successfully acquire the positioning information of the target equipment, acquiring the positioning information of the target equipment by using a laser odometer on the target equipment; or, in a case that the first positioning module cannot successfully acquire the positioning information of the target device for a plurality of consecutive periods or for a period exceeding a second predetermined time, acquiring the positioning information of the target device by using a laser odometer on the target device.
Optionally, in the process of acquiring the positioning information of the target device by using a laser odometer on the target device, the method further includes: continuously using the second positioning module to obtain the positioning information of the target equipment; after the second positioning module continues to be used to obtain the positioning information of the target device, the method further includes: and stopping acquiring the positioning information of the target equipment by using the laser odometer under the condition that the positioning information of the target equipment is successfully acquired by using the second positioning module.
Optionally, the obtaining, by using a second positioning module on the target device, the positioning information of the target device includes: the local point cloud map formed by the point cloud data sensed by the optical sensor when the target device runs for a preset distance is obtained through the second positioning module; performing point cloud segmentation on the object in the local point cloud map through the second positioning module to obtain a feature vector of point cloud data of the object; matching the characteristic vector of the point cloud data of the object with the characteristic vector of the point cloud data of different objects in a pre-established map through the second positioning module to determine a target object corresponding to the object in the different objects; and determining the positioning information of the target equipment according to the position of the target object in the map by the second positioning module.
Optionally, the obtaining, by using the first positioning module on the target device, the positioning information of the target device further includes: acquiring point cloud data sensed by the optical sensor through the first positioning module; performing feature matching on the point cloud data sensed by the optical sensor and the point cloud data of different objects in a pre-established map through the first positioning module to obtain a matching result; and acquiring the positioning information of the target equipment according to the matching result through the first positioning module.
According to another embodiment of the present invention, there is provided a positioning apparatus of a target device, including: the system comprises a first acquisition module, a first processing module and a second acquisition module, wherein the first acquisition module is used for acquiring positioning information of target equipment by using a first positioning module on the target equipment in the moving process of the target equipment, the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target equipment, and acquiring the positioning information of the target equipment according to a feature vector of the point cloud data of the object; a first detecting module, configured to detect whether the first positioning module fails to successfully acquire the positioning information of the target device for a plurality of consecutive periods or for a first predetermined time; and a second obtaining module, configured to, when it is detected that the first positioning module cannot successfully obtain the positioning information of the target device for the multiple continuous periods or the first predetermined time period, obtain the positioning information of the target device by using a second positioning module on the target device, where the second positioning module is configured to perform feature matching on the point cloud data sensed by the optical sensor and a point cloud data set obtained in advance, and obtain the positioning information of the target device according to a matching result obtained by the feature matching.
According to another embodiment of the present invention, there is provided a positioning apparatus of a target device, including: a third obtaining module, configured to obtain, by using a second locating module on a target device in a moving process of the target device, locating information of the target device, where the second locating module is configured to perform feature matching on point cloud data sensed by an optical sensor on the target device and a point cloud data set obtained in advance, and obtain, according to a matching result obtained by the feature matching, the locating information of the target device; a second detecting module, configured to detect whether the second positioning module fails to obtain the positioning information of the target device for a plurality of consecutive periods or for a second predetermined time; and a fourth obtaining module, configured to, when it is detected that the second locating module cannot successfully obtain the locating information of the target device for the multiple consecutive periods or the second predetermined time period, obtain the locating information of the target device by using a first locating module on the target device, where the first locating module is configured to perform point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target device, and obtain the locating information of the target device according to a feature vector of the point cloud data of the object.
According to a further embodiment of the present invention, there is also provided a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
According to yet another embodiment of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in any of the above method embodiments.
According to the invention, the first positioning module on the target equipment is used for acquiring the positioning information of the target equipment in the moving process of the target equipment, wherein the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target equipment and acquiring the positioning information of the target equipment according to the characteristic vector of the point cloud data of the object; detecting whether the first positioning module can not successfully acquire the positioning information of the target equipment for a plurality of continuous periods or for a first preset time; and under the condition that the first positioning module cannot successfully acquire the positioning information of the target equipment for a plurality of continuous periods or more than a first preset time, acquiring the positioning information of the target equipment by using a second positioning module on the target equipment, wherein the second positioning module is used for carrying out feature matching on the point cloud data sensed by the optical sensor and a point cloud data set acquired in advance, and acquiring the positioning information of the target equipment according to a matching result obtained by the feature matching. The purpose of positioning the target equipment under different scenes by utilizing the first positioning module and the second positioning module is achieved. Therefore, the problem that robustness of positioning to scene change is poor in the related technology can be solved, and the effect of accurately positioning the target equipment in different scenes is achieved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a block diagram of a hardware structure of a mobile terminal of a target device positioning method according to an embodiment of the present invention;
fig. 2 is a flowchart (one) of a positioning method of a target device according to an embodiment of the present invention;
fig. 3 is a flowchart (two) of a positioning method of a target device according to an embodiment of the present invention;
FIG. 4 is a block diagram of a positioning apparatus of a target device according to an embodiment of the present invention;
fig. 5 is a block diagram (ii) of the positioning apparatus of the target device according to the embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The method provided by the embodiment of the application can be executed in a mobile terminal, a computer terminal or a similar operation device. Taking an example of the present invention running on a mobile terminal, fig. 1 is a block diagram of a hardware structure of the mobile terminal of a method for positioning a target device according to an embodiment of the present invention. As shown in fig. 1, the mobile terminal 10 may include one or more (only one shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, and optionally may also include a transmission device 106 for communication functions and an input-output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration, and does not limit the structure of the mobile terminal. For example, the mobile terminal 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program of an application software and a module, such as a computer program corresponding to the target device positioning method in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the mobile terminal 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal 10. In one example, the transmission device 106 includes a Network adapter (NIC), which can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
In this embodiment, a method for positioning a target device is provided, and fig. 2 is a flowchart (a) of a method for positioning a target device according to an embodiment of the present invention, as shown in fig. 2, the flowchart includes the following steps:
step S202, a first positioning module on the target equipment is used for obtaining positioning information of the target equipment in the moving process of the target equipment, wherein the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target equipment and obtaining the positioning information of the target equipment according to a feature vector of the point cloud data of the object;
step S204, detecting whether the first positioning module can not successfully acquire the positioning information of the target equipment for a plurality of continuous periods or for a first preset time;
step S206, under the condition that the first positioning module cannot successfully acquire the positioning information of the target equipment continuously for a plurality of periods or for more than a first preset time, acquiring the positioning information of the target equipment by using a second positioning module on the target equipment, wherein the second positioning module is used for carrying out feature matching on the point cloud data sensed by the optical sensor and a point cloud data set acquired in advance, and acquiring the positioning information of the target equipment according to a matching result obtained by the feature matching.
Alternatively, the execution subject of the above steps may be a terminal or the like, but is not limited thereto.
Optionally, in this embodiment, the target device includes, but is not limited to, a device that can be moved, for example, an unmanned vehicle.
Optionally, in this embodiment, the above-mentioned target device positioning method may be, but is not limited to, applied in a positioning scene. Such as the location of the target device during travel. The positioning information may be, but is not limited to, longitude information, latitude information, distance information, etc. of the target device. The first positioning module and the second positioning module include but are not limited to positioning devices arranged on the vehicle, and optical sensor equipment is arranged in the positioning devices; the logic steps executed by the first positioning module and the second positioning module can also be directly executed by the execution main body of the positioning method to obtain the corresponding positioning information. The above is only an example, and this is not limited in this embodiment.
Alternatively, the first positioning module and the second positioning module may be two components in the positioning device, and respectively perform different positioning operations. But not limited to, two separate positioning devices are also possible.
Optionally, the plurality of periods includes periods of spatial distance, time periods, and the like.
Alternatively, the optical sensor device acquires positioning information using optical radar (LiDAR), which is an optical remote sensing technology that measures parameters such as the distance of a target by irradiating a beam of Light, typically a pulsed laser, onto the target. Optical sensor devices include, but are not limited to, the fields of application and mapping, archaeology, geography, topography, earthquake, forestry, remote sensing, and atmospheric physics, target devices, and the like.
Alternatively, point cloud Segmentation (Points Segmentation) is a method of processing a three-dimensional point cloud, and different objects can be extracted from the point cloud and processed separately. Common point cloud segmentation methods include euclidean distance-based segmentation, deep neural network-based segmentation, and the like. For example, in the present embodiment, point cloud segmentation is performed on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on a target device, and positioning information of the target device is acquired according to a feature vector of the point cloud data of the object.
Optionally, in this embodiment, the target device may encounter different situations in different scenarios, and if only one positioning manner is adopted, the target device cannot adapt to multiple scenarios. For example, when the target device runs on a congested road, the first positioning module fails, and positioning cannot be continued. If the positioning mode is not replaced, the target equipment is out of control, and adverse effects are caused. At this time, under the condition that the first positioning module is detected to be incapable of successfully acquiring the positioning information of the target device, the second positioning module on the target device is used for acquiring the positioning information of the target device, so that the normal running of the vehicle is ensured.
Optionally, the first positioning module is configured to perform point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target device, and acquire positioning information of the target device according to a feature vector of the point cloud data of the object. The embodiment is effective for environments with certain geometric characteristics, such as planes and edges, and is suitable for areas with narrow visual fields and environments with monotonous space objects, such as passageways between buildings.
The second positioning module is used for carrying out feature matching on the point cloud data sensed by the optical sensor and a point cloud data set acquired in advance, and acquiring positioning information of the target equipment according to a matching result obtained by the feature matching. The method has an excellent effect on the scene with more spatially separated objects such as trees, street lamps and guideboards in the environment, does not need to depend on other sensors, has short calculation time, and can realize real-time global positioning.
Through this embodiment, fix a position target device through the characteristics that combine first location module and second location module for target device can be applicable to different environment, increases the accuracy to target device location. The robustness of the positioning is improved.
In an optional embodiment, in the process of acquiring the location information of the target device by using the second location module on the target device, the method further includes:
s1, continuously using the first positioning module to obtain the positioning information of the target device;
after continuing to acquire the positioning information of the target device using the first positioning module, the method further includes:
and S2, stopping acquiring the positioning information of the target device by using the second positioning module under the condition that the positioning information of the target device is successfully acquired by using the first positioning module.
Optionally, in this embodiment, after the second positioning module is started to position, the first positioning module does not need to be turned off. That is, the first positioning module and the second positioning module may operate simultaneously.
Through this embodiment, fix a position through first orientation module and second orientation module simultaneously, select the module of preferential acquisition location data, increased the timeliness, the accuracy of target device location.
In an optional embodiment, after obtaining the location information of the target device using the second location module on the target device, the method further includes:
s1, under the condition that the second positioning module can not successfully acquire the positioning information of the target equipment, acquiring the positioning information of the target equipment by using a laser odometer on the target equipment; or,
and S2, after the positioning information of the target device is acquired for the first time, under the condition that the positioning information of the target device cannot be acquired successfully by the second positioning module for a plurality of continuous cycles or over a second preset time, acquiring the positioning information of the target device by using a laser odometer on the target device.
Optionally, in this embodiment, in a case that the second positioning module cannot acquire the positioning information of the target device, the positioning information of the target device may be acquired by means of a laser odometer.
Optionally, the laser odometer may estimate a spatial transformation of the target device in Real time to obtain a motion trajectory of a section of the optical sensor of the target device, that is, a pose of a section of six degrees of freedom, and at the same time, calculate a relative transformation between a trajectory of a Real-time kinematic (RTK) and the trajectory on a two-dimensional plane by using an ICP method of a spectrometer, and align the trajectory of the RTK and the motion trajectory of the section of the optical sensor of the target device. After the tracks are aligned, each RTK point is added into a pose graph formed by the poses of the optical sensors for optimization, so that the error of the laser odometer is reduced. When the target device drives to the position where the target device has driven once again, the current laser point cloud and the constructed point cloud map can be matched, and the accumulated error is optimized, so that the pose of the optical sensor for mapping is obtained. The pose of the optical sensor is combined with the three-dimensional point cloud characteristic points and the three-dimensional point cloud segmentation, so that a global three-dimensional characteristic point map and a global three-dimensional point cloud segmentation map can be established, and the coordinate systems of the two maps are consistent.
Through the embodiment, the target equipment is positioned by assisting the laser odometer, so that the positioning accuracy of the target equipment is further improved, and the robustness of adapting to different environments is improved.
In an optional embodiment, in the process of acquiring the positioning information of the target device by using a laser odometer on the target device, the method further comprises:
s1, continuously using the first positioning module to obtain the positioning information of the target device;
after continuing to acquire the positioning information of the target device using the first positioning module, the method further includes:
and S2, stopping acquiring the positioning information of the target device by using the laser odometer under the condition that the positioning information of the target device is successfully acquired by using the first positioning module.
Optionally, in this embodiment, after the laser odometer positioning is started, the first positioning module does not need to be turned off. That is, the first positioning module and the laser odometer may operate simultaneously.
Through this embodiment, fix a position simultaneously through first orientation module and start laser odometer, select the module of preferential acquisition location data, increased the timeliness, the accuracy of target device location.
In an optional embodiment, the obtaining the positioning information of the target device by using the first positioning module on the target device includes:
s1, acquiring a local point cloud map formed by point cloud data sensed by an optical sensor when the target device travels a preset distance through a first positioning module;
s2, performing point cloud segmentation on the object in the local point cloud map through the first positioning module to obtain a feature vector of point cloud data of the object;
s3, matching the feature vector of the point cloud data of the object with the feature vector of the point cloud data of different objects in a pre-established map through a first positioning module to determine a target object corresponding to the object in the different objects;
and S4, determining the positioning information of the target device according to the position of the target object in the map through the first positioning module.
Alternatively, in this embodiment, after determining the initial positioning of the target device (which may be achieved by visual positioning, laser, and RTK), the target device starts autonomous navigation driving, and at the same time, a local three-dimensional point cloud segmentation map is constructed, and positioning is performed in the global three-dimensional point cloud segmentation map. And meanwhile, detecting the space distance and the time interval between the method and the last successful positioning, when the distance is greater than a threshold or the time interval is greater than a certain threshold, inputting the positioning result at the current moment to a first positioning module based on the three-dimensional feature points, matching the position and pose information of the first positioning module and the current optical sensor point cloud in a global three-dimensional point cloud feature map, and outputting the positioning result.
According to the embodiment, the first positioning module determines the positioning information of the target device according to the position of the target object in the map, so that the effect of accurately positioning the target device can be achieved.
In an optional embodiment, the obtaining the location information of the target device by using a second location module on the target device further includes:
s1, acquiring point cloud data sensed by the optical sensor through a second positioning module;
s2, performing feature matching on the point cloud data sensed by the optical sensor and the point cloud data of different objects in a pre-established map through a second positioning module to obtain a matching result;
and S3, acquiring the positioning information of the target device through the second positioning module according to the matching result.
Optionally, in this embodiment, the point cloud data of different objects in the pre-established map may represent information such as shapes and attributes of the different objects, so that the point cloud data of the target device may be obtained through matching to determine the coordinate position of the target device.
According to the embodiment, the point cloud data sensed by the optical sensor and the point cloud data of different objects in the pre-established map are subjected to feature matching through the second positioning module to obtain the matching result, the positioning information of the target equipment is obtained according to the matching result, and the positioning of the target equipment is never accurate.
In this embodiment, a method for positioning a target device is provided, and fig. 3 is a flowchart (ii) of a method for positioning a target device according to an embodiment of the present invention, as shown in fig. 3, the flowchart includes the following steps:
step S302, a second positioning module on the target device is used for acquiring positioning information of the target device in the moving process of the target device, wherein the second positioning module is used for carrying out feature matching on point cloud data sensed by an optical sensor on the target device and a point cloud data set acquired in advance, and acquiring the positioning information of the target device according to a matching result obtained by the feature matching;
step S304, detecting whether the second positioning module can not successfully acquire the positioning information of the target device for a plurality of continuous periods or for a second preset time;
step S306, under the condition that the second positioning module is detected to be incapable of successfully acquiring the positioning information of the target equipment for a plurality of continuous periods or more than a second preset time, the first positioning module on the target equipment is used for acquiring the positioning information of the target equipment, wherein the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target equipment, and acquiring the positioning information of the target equipment according to a feature vector of the point cloud data of the object.
Alternatively, the execution subject of the above steps may be a terminal or the like, but is not limited thereto.
Optionally, in this embodiment, the target device includes, but is not limited to, a device that can be moved, for example, an unmanned vehicle.
Optionally, the plurality of periods includes periods of spatial distance, time periods, and the like.
Optionally, in this embodiment, the above-mentioned target device positioning method may be, but is not limited to, applied in a positioning scene. Such as the location of the target device during travel. The positioning information may be, but is not limited to, longitude information, latitude information, distance information, etc. of the target device. The first and second positioning modules include, but are not limited to, positioning devices disposed on the vehicle in which the optical sensor apparatus is disposed. The above is only an example, and this is not limited in this embodiment.
Alternatively, the optical sensor device acquires positioning information using optical radar (LiDAR), which is an optical remote sensing technology that measures parameters such as the distance of a target by irradiating a beam of Light, typically a pulsed laser, onto the target. Optical sensor devices include, but are not limited to, the fields of application and mapping, archaeology, geography, topography, earthquake, forestry, remote sensing, and atmospheric physics, target devices, and the like.
Alternatively, point cloud Segmentation (Points Segmentation) is a method of processing a three-dimensional point cloud, and different objects can be extracted from the point cloud and processed separately. Common point cloud segmentation methods include euclidean distance-based segmentation, deep neural network-based segmentation, and the like. For example, in the present embodiment, point cloud segmentation is performed on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on a target device, and positioning information of the target device is acquired according to a feature vector of the point cloud data of the object.
Optionally, in this embodiment, the target device may encounter different situations in different scenarios, and if only one positioning manner is adopted, the target device cannot adapt to multiple scenarios. For example, when the target device runs on a congested road, the first positioning module fails, and positioning cannot be continued. If the positioning mode is not replaced, the target equipment is out of control, and adverse effects are caused. At this time, under the condition that the first positioning module is detected to be incapable of successfully acquiring the positioning information of the target device, the second positioning module on the target device is used for acquiring the positioning information of the target device, so that the normal running of the vehicle is ensured.
Optionally, the first positioning module is configured to perform point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target device, and acquire positioning information of the target device according to a feature vector of the point cloud data of the object. The embodiment is effective for environments with certain geometric characteristics (such as planes and edges), and is suitable for environments with narrow visual fields and monotonous space objects (such as passageways between buildings).
The second positioning module is used for carrying out feature matching on the point cloud data sensed by the optical sensor and a point cloud data set acquired in advance, and acquiring positioning information of the target equipment according to a matching result obtained by the feature matching. The embodiment has excellent effect on the scene with more spatially separated objects (such as trees, street lamps and guideboards) in the environment, does not need to depend on other sensors, has short calculation time, and can realize real-time global positioning.
Through this embodiment, fix a position target device through the characteristics that combine first location module and second location module for target device can be applicable to different environment, increases the accuracy to target device location. The robustness of the positioning is improved.
In an optional embodiment, in the process of acquiring the positioning information of the target device by using the first positioning module on the target device, the method further includes:
s1, continuously using the second positioning module to obtain the positioning information of the target device;
after continuing to acquire the positioning information of the target device using the second positioning module, the method further comprises:
s2, if the second positioning module is used to successfully obtain the positioning information of the target device, the first positioning module is stopped from obtaining the positioning information of the target device.
Optionally, in this embodiment, after the second positioning module is started to position, the first positioning module does not need to be turned off. That is, the first positioning module and the second positioning module may operate simultaneously.
Through this embodiment, fix a position through first orientation module and second orientation module simultaneously, select the module of preferential acquisition location data, increased the timeliness, the accuracy of target device location.
In an optional embodiment, after obtaining the positioning information of the target device by using the first positioning module on the target device, the method further includes:
s1, when the first positioning module can not successfully acquire the positioning information of the target equipment, the laser odometer on the target equipment is used for acquiring the positioning information of the target equipment; or,
and S2, in the case that the first positioning module cannot successfully acquire the positioning information of the target device for a plurality of continuous periods or for a second preset time, acquiring the positioning information of the target device by using a laser odometer on the target device.
Optionally, in this embodiment, in a case that the second positioning module cannot acquire the positioning information of the target device, the positioning information of the target device may be acquired by means of a laser odometer.
Optionally, the laser odometer may estimate a spatial transformation of the target device in Real time to obtain a motion trajectory of a section of the optical sensor of the target device, that is, a pose of a section of six degrees of freedom, and at the same time, calculate a relative transformation between a Real-time kinematic (RTK) trajectory and the trajectory on a two-dimensional plane by using an ICP method of a spectrometer, and align the RTK trajectory and the optical sensor device. After the tracks are aligned, each RTK point is added into a pose graph formed by the poses of the optical sensors for optimization, so that the error of the laser odometer is reduced. When the target device drives to the position where the target device has driven once again, the current laser point cloud and the constructed point cloud map can be matched, and the accumulated error is optimized, so that the pose of the optical sensor for mapping is obtained. The pose of the optical sensor is combined with the three-dimensional point cloud characteristic points and the three-dimensional point cloud segmentation, so that a global three-dimensional characteristic point map and a global three-dimensional point cloud segmentation map can be established, and the coordinate systems of the two maps are consistent.
Through the embodiment, the target equipment is positioned by assisting the laser odometer, so that the positioning accuracy of the target equipment is further improved, and the robustness of adapting to different environments is improved.
In an optional embodiment, in the process of acquiring the positioning information of the target device by using a laser odometer on the target device, the method further comprises:
s1, continuously using the second positioning module to obtain the positioning information of the target device;
after continuing to acquire the positioning information of the target device using the second positioning module, the method further comprises:
and S2, stopping acquiring the positioning information of the target device by using the laser odometer under the condition that the positioning information of the target device is successfully acquired by using the second positioning module.
Optionally, in this embodiment, after the laser odometer positioning is started, the first positioning module does not need to be turned off. That is, the first positioning module and the laser odometer may operate simultaneously.
Through this embodiment, fix a position simultaneously through first orientation module and start laser odometer, select the module of preferential acquisition location data, increased the timeliness, the accuracy of target device location.
In an optional embodiment, the obtaining the location information of the target device using a second location module on the target device includes:
s1, acquiring a local point cloud map formed by point cloud data sensed by an optical sensor when the target device travels a preset distance through a second positioning module;
s2, performing point cloud segmentation on the object in the local point cloud map through a second positioning module to obtain a feature vector of point cloud data of the object;
s3, matching the feature vector of the point cloud data of the object with the feature vector of the point cloud data of different objects in a pre-established map through a second positioning module to determine a target object corresponding to the object in the different objects;
and S4, determining the positioning information of the target device according to the position of the target object in the map through a second positioning module.
Alternatively, in this embodiment, after determining the initial positioning of the target device (which may be achieved by visual positioning, laser, and RTK), the target device starts autonomous navigation driving, and at the same time, a local three-dimensional point cloud segmentation map is constructed, and positioning is performed in the global three-dimensional point cloud segmentation map. And meanwhile, detecting the space distance and the time interval between the method and the last successful positioning, when the distance is greater than a threshold or the time interval is greater than a certain threshold, inputting the positioning result at the current moment to a first positioning module based on the three-dimensional feature points, matching the position and pose information of the first positioning module and the current optical sensor point cloud in a global three-dimensional point cloud feature map, and outputting the positioning result.
By the embodiment, the second positioning module determines the positioning information of the target device according to the position of the target object in the map, so that the effect of accurately positioning the target device can be achieved.
In an optional embodiment, the obtaining the location information of the target device by using the first location module on the target device further includes:
s1, acquiring point cloud data sensed by the optical sensor through the first positioning module;
s2, performing feature matching on the point cloud data sensed by the optical sensor and the point cloud data of different objects in a pre-established map through the first positioning module to obtain a matching result;
and S3, acquiring the positioning information of the target device through the first positioning module according to the matching result.
Optionally, in this embodiment, the point cloud data of different objects in the pre-established map may represent information such as shapes and attributes of the different objects, so that the point cloud data of the target device may be obtained through matching to determine the coordinate position of the target device.
According to the embodiment, the point cloud data sensed by the optical sensor and the point cloud data of different objects in the pre-established map are subjected to feature matching through the first positioning module to obtain the matching result, the positioning information of the target equipment is obtained according to the matching result, and the positioning of the target equipment is never accurate.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
In this embodiment, a positioning apparatus for a target device is further provided, and the apparatus is used to implement the foregoing embodiments and preferred embodiments, which have already been described and are not described again. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 4 is a block diagram (a) of a positioning apparatus of a target device according to an embodiment of the present invention, and as shown in fig. 4, the apparatus includes:
the first obtaining module 42 is configured to obtain positioning information of the target device by using a first positioning module on the target device in a moving process of the target device, where the first positioning module is configured to perform point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target device, and obtain the positioning information of the target device according to a feature vector of the point cloud data of the object;
a first detecting module 44, configured to detect whether the first positioning module cannot successfully acquire the positioning information of the target device for multiple consecutive cycles or for a first predetermined time;
and a second obtaining module 46, configured to, when it is detected that the first positioning module cannot successfully obtain the positioning information of the target device for multiple consecutive cycles or more than a first predetermined time, obtain the positioning information of the target device by using a second positioning module on the target device, where the second positioning module is configured to perform feature matching on the point cloud data sensed by the optical sensor and a point cloud data set obtained in advance, and obtain the positioning information of the target device according to a matching result obtained by the feature matching.
Optionally, the apparatus further comprises: the fifth obtaining module is used for continuously using the first positioning module to obtain the positioning information of the target equipment in the process of using the second positioning module on the target equipment to obtain the positioning information of the target equipment;
and the first stopping module is used for stopping the second positioning module from acquiring the positioning information of the target equipment under the condition that the first positioning module is used for successfully acquiring the positioning information of the target equipment after the first positioning module is continuously used for acquiring the positioning information of the target equipment.
Optionally, the apparatus further comprises:
the sixth acquisition module is used for acquiring the positioning information of the target equipment by using the laser odometer on the target equipment under the condition that the second positioning module cannot successfully acquire the positioning information of the target equipment after the second positioning module on the target equipment is used for acquiring the positioning information of the target equipment; or,
and the seventh obtaining module is used for obtaining the positioning information of the target equipment by using the laser odometer on the target equipment under the condition that the second positioning module cannot successfully obtain the positioning information of the target equipment for a plurality of continuous cycles or more than a second preset time after the positioning information of the target equipment is obtained for the first time.
Optionally, the apparatus further comprises:
the eighth acquisition module is used for continuously acquiring the positioning information of the target equipment by using the first positioning module in the process of acquiring the positioning information of the target equipment by using the laser odometer on the target equipment;
and the second stopping module is used for stopping the laser odometer from acquiring the positioning information of the target equipment under the condition that the first positioning module is used for successfully acquiring the positioning information of the target equipment after the first positioning module is continuously used for acquiring the positioning information of the target equipment.
Optionally, the first obtaining module includes:
the first acquisition unit is used for acquiring a local point cloud map formed by point cloud data sensed by an optical sensor when the target equipment travels a preset distance through a first positioning module;
the first determining unit is used for carrying out point cloud segmentation on the object in the local point cloud map through the first positioning module to obtain a characteristic vector of point cloud data of the object;
the second determining unit is used for matching the characteristic vector of the point cloud data of the object with the characteristic vector of the point cloud data of different objects in a pre-established map through the first positioning module so as to determine a target object corresponding to the object in the different objects;
and the third determining unit is used for determining the positioning information of the target equipment according to the position of the target object in the map through the first positioning module.
Optionally, the second obtaining module includes:
the second acquisition unit is used for acquiring point cloud data sensed by the optical sensor through the second positioning module;
the fourth determining unit is used for performing feature matching on the point cloud data sensed by the optical sensor and the point cloud data of different objects in a pre-established map through the second positioning module to obtain a matching result;
and the third acquisition unit is used for acquiring the positioning information of the target equipment according to the matching result through the second positioning module.
The specific implementation is the same as the above embodiments, and is not described herein again.
Fig. 5 is a block diagram (ii) of a positioning apparatus of a target device according to an embodiment of the present invention, and as shown in fig. 5, the apparatus includes:
a third obtaining module 52, configured to obtain, by using a second locating module on the target device in the moving process of the target device, locating information of the target device, where the second locating module is configured to perform feature matching on point cloud data sensed by an optical sensor on the target device and a point cloud data set obtained in advance, and obtain, according to a matching result obtained by the feature matching, locating information of the target device;
a second detecting module 54, configured to detect whether the second positioning module fails to successfully acquire the positioning information of the target device for a plurality of consecutive cycles or for a second predetermined time;
and a fourth obtaining module 56, configured to, when it is detected that the second locating module cannot successfully obtain the locating information of the target device for multiple consecutive cycles or longer than a second predetermined time period, obtain the locating information of the target device by using the first locating module on the target device, where the first locating module is configured to perform point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target device, and obtain the locating information of the target device according to a feature vector of the point cloud data of the object.
Optionally, the apparatus further comprises:
a ninth obtaining module, configured to continue to use the second positioning module to obtain the positioning information of the target device in a process of obtaining the positioning information of the target device by using the first positioning module on the target device;
and the third stopping module is used for stopping the first positioning module from acquiring the positioning information of the target equipment under the condition that the second positioning module is used for successfully acquiring the positioning information of the target equipment after the second positioning module is continuously used for acquiring the positioning information of the target equipment.
Optionally, the apparatus further comprises:
a tenth obtaining module, configured to, after obtaining the location information of the target device using the first location module on the target device, obtain the location information of the target device using a laser odometer on the target device under a condition that the first location module cannot successfully obtain the location information of the target device; or,
and the eleventh acquisition module is used for acquiring the positioning information of the target equipment by using a laser odometer on the target equipment under the condition that the positioning information of the target equipment cannot be successfully acquired by the first positioning module for a plurality of continuous periods or for a period exceeding a second preset time.
Optionally, the apparatus further comprises:
the twelfth acquisition module is used for continuously acquiring the positioning information of the target equipment by using the second positioning module in the process of acquiring the positioning information of the target equipment by using the laser odometer on the target equipment;
and the fourth stopping module is used for stopping the laser odometer from acquiring the positioning information of the target equipment under the condition that the second positioning module is used for successfully acquiring the positioning information of the target equipment after the second positioning module is continuously used for acquiring the positioning information of the target equipment.
Optionally, the third obtaining module includes:
the fourth acquisition unit is used for acquiring a local point cloud map formed by point cloud data sensed by the optical sensor when the target equipment travels a preset distance through the second positioning module;
the fifth determining unit is used for carrying out point cloud segmentation on the object in the local point cloud map through the second positioning module to obtain a feature vector of point cloud data of the object;
a sixth determining unit, configured to match, by using the second positioning module, the feature vector of the point cloud data of the object with feature vectors of point cloud data of different objects in a pre-established map, so as to determine a target object corresponding to the object in the different objects;
and the seventh determining unit is used for determining the positioning information of the target equipment according to the position of the target object in the map through the second positioning module.
Optionally, the fourth obtaining module includes:
the fifth acquisition unit is used for acquiring point cloud data sensed by the optical sensor through the first positioning module;
the eighth determining unit is used for performing feature matching on the point cloud data sensed by the optical sensor and the point cloud data of different objects in a pre-established map through the first positioning module to obtain a matching result;
and the sixth acquisition unit is used for acquiring the positioning information of the target equipment according to the matching result through the first positioning module.
The specific implementation is the same as the above embodiments, and is not described herein again.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Embodiments of the present invention also provide a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, in the moving process of the target equipment, a first positioning module on the target equipment is used for obtaining positioning information of the target equipment, wherein the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target equipment and obtaining the positioning information of the target equipment according to a feature vector of the point cloud data of the object;
s2, detecting whether the first positioning module can not successfully acquire the positioning information of the target device for a plurality of continuous periods or exceeding a first preset time;
and S3, under the condition that the first positioning module is detected to be incapable of successfully acquiring the positioning information of the target equipment for a plurality of continuous periods or more than a first preset time, acquiring the positioning information of the target equipment by using a second positioning module on the target equipment, wherein the second positioning module is used for carrying out feature matching on the point cloud data sensed by the optical sensor and a point cloud data set acquired in advance, and acquiring the positioning information of the target equipment according to a matching result obtained by the feature matching.
Optionally, the storage medium is further arranged to store a computer program for performing the steps of:
s1, acquiring positioning information of the target device by using a second positioning module on the target device in the moving process of the target device, wherein the second positioning module is used for carrying out feature matching on point cloud data sensed by an optical sensor on the target device and a point cloud data set acquired in advance, and acquiring the positioning information of the target device according to a matching result obtained by the feature matching;
s2, detecting whether the second positioning module can not successfully acquire the positioning information of the target device for a plurality of continuous periods or for a second preset time;
and S3, under the condition that the second positioning module is detected to be incapable of successfully acquiring the positioning information of the target equipment for a plurality of continuous periods or more than a second preset time, acquiring the positioning information of the target equipment by using the first positioning module on the target equipment, wherein the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target equipment, and acquiring the positioning information of the target equipment according to a feature vector of the point cloud data of the object.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, in the moving process of the target equipment, a first positioning module on the target equipment is used for obtaining positioning information of the target equipment, wherein the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target equipment and obtaining the positioning information of the target equipment according to a feature vector of the point cloud data of the object;
s2, detecting whether the first positioning module can not successfully acquire the positioning information of the target device for a plurality of continuous periods or exceeding a first preset time;
and S3, under the condition that the first positioning module is detected to be incapable of successfully acquiring the positioning information of the target equipment for a plurality of continuous periods or more than a first preset time, acquiring the positioning information of the target equipment by using a second positioning module on the target equipment, wherein the second positioning module is used for carrying out feature matching on the point cloud data sensed by the optical sensor and a point cloud data set acquired in advance, and acquiring the positioning information of the target equipment according to a matching result obtained by the feature matching.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, acquiring positioning information of the target device by using a second positioning module on the target device in the moving process of the target device, wherein the second positioning module is used for carrying out feature matching on point cloud data sensed by an optical sensor on the target device and a point cloud data set acquired in advance, and acquiring the positioning information of the target device according to a matching result obtained by the feature matching;
s2, detecting whether the second positioning module can not successfully acquire the positioning information of the target device for a plurality of continuous periods or for a second preset time;
and S3, under the condition that the second positioning module is detected to be incapable of successfully acquiring the positioning information of the target equipment for a plurality of continuous periods or more than a second preset time, acquiring the positioning information of the target equipment by using the first positioning module on the target equipment, wherein the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target equipment, and acquiring the positioning information of the target equipment according to a feature vector of the point cloud data of the object.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.

Claims (16)

1. A method for locating a target device, comprising:
the method comprises the steps that a first positioning module on target equipment is used for obtaining positioning information of the target equipment in the moving process of the target equipment, wherein the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target equipment and obtaining the positioning information of the target equipment according to a feature vector of the point cloud data of the object;
detecting whether the first positioning module can not successfully acquire the positioning information of the target equipment for a plurality of continuous periods or for a first preset time;
and under the condition that the first positioning module is detected to be incapable of successfully acquiring the positioning information of the target equipment continuously for a plurality of periods or for a period exceeding the first preset time, acquiring the positioning information of the target equipment by using a second positioning module on the target equipment, wherein the second positioning module is used for carrying out feature matching on the point cloud data sensed by the optical sensor and a point cloud data set acquired in advance, and acquiring the positioning information of the target equipment according to a matching result obtained by the feature matching.
2. The method of claim 1,
in obtaining the positioning information of the target device using a second positioning module on the target device, the method further comprises: continuously using the first positioning module to obtain the positioning information of the target equipment;
after continuing to acquire positioning information of the target device using the first positioning module, the method further comprises: and under the condition that the first positioning module is used for successfully acquiring the positioning information of the target equipment, stopping acquiring the positioning information of the target equipment by using the second positioning module.
3. The method of claim 1, wherein after obtaining the location information of the target device using the second location module on the target device, further comprising:
under the condition that the second positioning module cannot successfully acquire the positioning information of the target equipment, acquiring the positioning information of the target equipment by using a laser odometer on the target equipment; or
After the positioning information of the target equipment is acquired for the first time, under the condition that the positioning information of the target equipment cannot be acquired successfully by the second positioning module for a plurality of continuous cycles or after a second preset time, the positioning information of the target equipment is acquired by using a laser odometer on the target equipment.
4. The method of claim 3,
in acquiring location information of the target device using a laser odometer on the target device, the method further comprises: continuously using the first positioning module to obtain the positioning information of the target equipment;
after continuing to acquire positioning information of the target device using the first positioning module, the method further comprises: and under the condition that the first positioning module is used for successfully acquiring the positioning information of the target equipment, stopping acquiring the positioning information of the target equipment by using the laser odometer.
5. The method according to any one of claims 1 to 4, wherein the obtaining the positioning information of the target device using the first positioning module on the target device comprises:
acquiring the local point cloud map formed by point cloud data sensed by the optical sensor when the target equipment travels a preset distance through the first positioning module;
performing point cloud segmentation on the object in the local point cloud map through the first positioning module to obtain a feature vector of point cloud data of the object;
matching the characteristic vector of the point cloud data of the object with the characteristic vector of the point cloud data of different objects in a pre-established map through the first positioning module to determine a target object corresponding to the object in the different objects;
and determining the positioning information of the target equipment according to the position of the target object in the map through the first positioning module.
6. The method of any of claims 1-4, wherein the obtaining the location information of the target device using a second location module on the target device, further comprises:
acquiring point cloud data sensed by the optical sensor through the second positioning module;
performing feature matching on the point cloud data sensed by the optical sensor and the point cloud data of different objects in a pre-established map through the second positioning module to obtain a matching result;
and acquiring the positioning information of the target equipment according to the matching result through the second positioning module.
7. A method for locating a target device, comprising:
the method comprises the steps that a second positioning module on target equipment is used for obtaining positioning information of the target equipment in the moving process of the target equipment, wherein the second positioning module is used for carrying out feature matching on point cloud data sensed by an optical sensor on the target equipment and a point cloud data set obtained in advance, and obtaining the positioning information of the target equipment according to a matching result obtained by the feature matching;
detecting whether the second positioning module can not successfully acquire the positioning information of the target equipment for a plurality of continuous periods or for a second preset time;
and under the condition that the second positioning module is detected to be incapable of successfully acquiring the positioning information of the target equipment continuously for a plurality of periods or for a period exceeding a second preset time, acquiring the positioning information of the target equipment by using a first positioning module on the target equipment, wherein the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target equipment, and acquiring the positioning information of the target equipment according to a feature vector of the point cloud data of the object.
8. The method of claim 7,
in the process of acquiring the positioning information of the target device by using the first positioning module on the target device, the method further comprises: continuously using the second positioning module to obtain the positioning information of the target equipment;
after continuing to acquire the positioning information of the target device using the second positioning module, the method further comprises: and under the condition that the second positioning module is used for successfully acquiring the positioning information of the target equipment, stopping acquiring the positioning information of the target equipment by using the first positioning module.
9. The method of claim 7, further comprising, after obtaining the positioning information of the target device using a first positioning module on the target device:
under the condition that the first positioning module cannot successfully acquire the positioning information of the target equipment, acquiring the positioning information of the target equipment by using a laser odometer on the target equipment; or
And under the condition that the first positioning module cannot successfully acquire the positioning information of the target equipment for a plurality of continuous periods or exceeds a second preset time, acquiring the positioning information of the target equipment by using a laser odometer on the target equipment.
10. The method of claim 9,
in acquiring location information of the target device using a laser odometer on the target device, the method further comprises: continuously using the second positioning module to obtain the positioning information of the target equipment;
after continuing to acquire the positioning information of the target device using the second positioning module, the method further comprises: and under the condition that the second positioning module is used for successfully acquiring the positioning information of the target device, stopping acquiring the positioning information of the target device by using the laser odometer.
11. The method according to any one of claims 7 to 10, wherein the obtaining the positioning information of the target device using a second positioning module on the target device comprises:
acquiring, by the second positioning module, the local point cloud map formed of point cloud data sensed by the optical sensor when the target device travels a predetermined distance;
performing point cloud segmentation on the object in the local point cloud map through the second positioning module to obtain a feature vector of point cloud data of the object;
matching the characteristic vector of the point cloud data of the object with the characteristic vector of the point cloud data of different objects in a pre-established map through the second positioning module to determine a target object corresponding to the object in the different objects;
and determining the positioning information of the target equipment according to the position of the target object in the map through the second positioning module.
12. The method of any one of claims 7 to 10, wherein the obtaining the positioning information of the target device using the first positioning module on the target device further comprises:
acquiring point cloud data sensed by the optical sensor through the first positioning module;
performing feature matching on the point cloud data sensed by the optical sensor and the point cloud data of different objects in a pre-established map through the first positioning module to obtain a matching result;
and acquiring the positioning information of the target equipment according to the matching result through the first positioning module.
13. An apparatus for locating a target device, comprising:
the system comprises a first acquisition module, a first processing module and a second acquisition module, wherein the first acquisition module is used for acquiring positioning information of target equipment by using a first positioning module on the target equipment in the moving process of the target equipment, the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target equipment, and acquiring the positioning information of the target equipment according to a feature vector of the point cloud data of the object;
the first detection module is used for detecting whether the first positioning module can not successfully acquire the positioning information of the target equipment for a plurality of continuous periods or exceeds a first preset time;
and the second acquisition module is used for acquiring the positioning information of the target equipment by using a second positioning module on the target equipment under the condition that the first positioning module cannot successfully acquire the positioning information of the target equipment continuously for a plurality of periods or for a period exceeding the first preset time, wherein the second positioning module is used for performing feature matching on the point cloud data sensed by the optical sensor and a point cloud data set acquired in advance, and acquiring the positioning information of the target equipment according to a matching result obtained by the feature matching.
14. An apparatus for locating a target device, comprising:
the third acquisition module is used for acquiring positioning information of the target equipment by using a second positioning module on the target equipment in the moving process of the target equipment, wherein the second positioning module is used for carrying out feature matching on point cloud data sensed by an optical sensor on the target equipment and a point cloud data set acquired in advance, and acquiring the positioning information of the target equipment according to a matching result obtained by the feature matching;
the second detection module is used for detecting whether the second positioning module can not successfully acquire the positioning information of the target equipment for a plurality of continuous cycles or for a second preset time;
and the fourth acquisition module is used for acquiring the positioning information of the target equipment by using the first positioning module on the target equipment under the condition that the second positioning module cannot successfully acquire the positioning information of the target equipment continuously for a plurality of periods or for a period exceeding a second preset time, wherein the first positioning module is used for carrying out point cloud segmentation on an object in a local point cloud map formed by point cloud data sensed by an optical sensor on the target equipment and acquiring the positioning information of the target equipment according to a feature vector of the point cloud data of the object.
15. A storage medium having stored thereon a computer program, wherein the computer program is arranged to perform the method of any of claims 1 to 6 when executed or to perform the method of any of claims 7 to 12 when executed.
16. An electronic apparatus comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to run the computer program to perform the method of any of claims 1 to 6, or to run the computer program to perform the method of any of claims 7 to 12.
CN201910755327.2A 2019-08-15 2019-08-15 Target equipment positioning method and device, storage medium and electronic device Active CN112393720B (en)

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