CN117288182A - Position information acquisition method, device, terminal and medium - Google Patents
Position information acquisition method, device, terminal and medium Download PDFInfo
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- CN117288182A CN117288182A CN202311592885.4A CN202311592885A CN117288182A CN 117288182 A CN117288182 A CN 117288182A CN 202311592885 A CN202311592885 A CN 202311592885A CN 117288182 A CN117288182 A CN 117288182A
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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Abstract
The embodiment of the application provides a method, a device, a terminal and a medium for acquiring position information, wherein the method comprises the following steps: acquiring first reference positioning position information of a target vehicle, and acquiring a patrol position information set of a vehicle patrol robot; acquiring first positioning position information of a first vehicle and second positioning position information of a second vehicle; determining a first distance curve, determining a second distance curve and determining a reference distance curve; determining a first distance difference curve according to the first distance curve and the reference distance curve, and determining a second distance difference curve according to the second distance curve and the reference distance curve; if the similarity between the first distance difference curve and the second distance difference curve is smaller than a preset similarity threshold value, positioning environment information of the target vehicle is obtained; the target positioning position information of the target vehicle is determined according to the positioning environment information, and the position information of the vehicle can be accurately determined by the inspection robot and the like.
Description
Technical Field
The present invention relates to the field of data processing technologies, and in particular, to a method, an apparatus, a terminal, and a medium for obtaining location information.
Background
Currently, for vehicles in a mortgage state, the vehicles may be parked in a warehouse, and at this time, the position information of the vehicles may be detected and focused at all times, often through a Global Positioning System (GPS) installed on the vehicles. When the positioning signal is weak or the like, it is difficult to position the signal to acquire the position information of the vehicle at this time, resulting in a decrease in reliability in acquiring the vehicle positioning information.
Disclosure of Invention
The embodiment of the application provides a method, a device, a terminal and a medium for acquiring position information, which can accurately determine the position information of a vehicle through a patrol robot and the like.
A first aspect of an embodiment of the present application provides a location information obtaining method, where the location information obtaining method includes:
acquiring first reference positioning position information of a target vehicle in a target space, and acquiring a patrol position information set of a vehicle patrol robot;
acquiring first positioning position information of a first vehicle associated with the target vehicle, and acquiring second positioning position information of a second vehicle associated with the target vehicle, wherein the initial position of the first vehicle, the initial position of the second vehicle and the initial position of the target vehicle are the same in distance;
Determining a first distance curve according to the first positioning position information and the patrol position information set, determining a second distance curve according to the second positioning position information and the patrol position information set, and determining a reference distance curve according to the first reference positioning position information and the patrol position information set;
determining a first distance difference curve according to the first distance curve and the reference distance curve, and determining a second distance difference curve according to the second distance curve and the reference distance curve;
if the similarity between the first distance difference curve and the second distance difference curve is smaller than a preset similarity threshold value, acquiring positioning environment information of the target vehicle;
and determining target positioning position information of the target vehicle according to the positioning environment information.
In this example, by acquiring first reference positioning position information of a target vehicle in a target space, acquiring a set of inspection position information of a vehicle inspection robot, acquiring first positioning position information of a first vehicle associated with the target vehicle, and acquiring second positioning position information of a second vehicle associated with the target vehicle, wherein the initial position of the first vehicle, the initial position of the second vehicle and the initial position of the target vehicle are the same, a first distance curve is determined according to the first positioning position information and the set of inspection position information, a second distance curve is determined according to the second positioning position information and the set of inspection position information, a reference distance curve is determined according to the first reference positioning position information and the set of inspection position information, a first distance difference curve is determined according to the first distance curve and the reference distance curve, a second distance difference curve is determined according to the second distance curve and the reference distance curve, and if the distance between the first distance difference curve and the initial position of the second distance difference is the same, a target vehicle can be determined according to the first distance difference curve, the first distance curve and the second distance difference curve is set, the target vehicle can be accurately positioned according to the first distance curve, the target vehicle can be accurately positioned, the target vehicle can be positioned, the position of the vehicle can be accurately, the environment information can be accurately positioned, and the vehicle can be accurately positioned, and the position of the target information can be accurately, and the position of the vehicle can be accurately moved.
A second aspect of embodiments of the present application provides a location information acquiring apparatus, including:
the first acquisition unit is used for acquiring first reference positioning position information of a target vehicle in a target space and acquiring a patrol position information set of the vehicle patrol robot;
a second acquisition unit configured to acquire first positional information of a first vehicle associated with the target vehicle, and acquire second positional information of a second vehicle associated with the target vehicle, the initial position of the first vehicle, the distance between the initial position of the second vehicle and the initial position of the target vehicle being the same;
a first determining unit, configured to determine a first distance curve according to the first positioning location information and the set of routing inspection location information, determine a second distance curve according to the second positioning location information and the set of routing inspection location information, and determine a reference distance curve according to the first reference positioning location information and the set of routing inspection location information;
a second determining unit configured to determine a first distance difference curve according to the first distance curve and the reference distance curve, and determine a second distance difference curve according to the second distance curve and the reference distance curve;
The third acquisition unit is used for acquiring the positioning environment information of the target vehicle if the similarity between the first distance difference curve and the second distance difference curve is smaller than a preset similarity threshold;
and a third determining unit for determining target positioning position information of the target vehicle according to the positioning environment information.
A third aspect of the embodiments of the present application provides a terminal, comprising a processor, an input device, an output device and a memory, the processor, the input device, the output device and the memory being interconnected, wherein the memory is configured to store a computer program, the computer program comprising program instructions, the processor being configured to invoke the program instructions to execute the step instructions as in the first aspect of the embodiments of the present application.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program causes a computer to perform part or all of the steps as described in the first aspect of the embodiments of the present application.
A fifth aspect of the embodiments of the present application provides a computer program product, wherein the computer program product comprises a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps as described in the first aspect of the embodiments of the present application. The computer program product may be a software installation package.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1A is a schematic flow chart of a method for obtaining location information according to an embodiment of the present application;
FIG. 1B is a schematic illustration of a target vehicle location according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a terminal according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a location information acquiring device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The terms first, second and the like in the description and in the claims of the present application and in the above-described figures, are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly understand that the embodiments described herein may be combined with other embodiments.
In order to better understand a location information obtaining method provided in the embodiments of the present application, a scenario in which the location information obtaining method is applied will be briefly described below. For a vehicle in a mortgage state, the vehicle is parked in a warehouse, and the position of the vehicle needs to be acquired periodically to judge whether the vehicle is illegally moved or not, etc., conventionally, when the position of the vehicle is acquired, the position information of the vehicle is detected at any time, and whether the vehicle is moved or not is judged according to the position information, usually through a GPS (global positioning system) mounted on the vehicle. However, due to the specificity of the warehouse, there may be many cases where signals are blocked in the warehouse, so that the GPS positioning signal is weaker, and at this time, the accuracy of the acquired position information is lower, which results in lower accuracy in position discrimination. When the vehicle is in a situation where the GPS signal is weak or the like, it is difficult to acquire the position information of the vehicle by the GPS positioning signal at this time, resulting in a decrease in reliability in acquiring the vehicle positioning information. The embodiment of the application aims to solve the problem of low reliability in the process of acquiring the vehicle positioning information, and provides a position information determining method.
Referring to fig. 1A, fig. 1A is a flowchart of a method for obtaining location information according to an embodiment of the present application. As shown in fig. 1A, the method includes:
s201, acquiring first reference positioning position information of a target vehicle in a target space, and acquiring a patrol position information set of a vehicle patrol robot.
The target space may be a warehouse, a parking lot where vehicles are parked, or the like, and the warehouse may have a plurality of parking spaces, where vehicles may be parked on the parking spaces, or may be non-parked vehicles. The parking space can be a single-layer parking space or a lifting parking space. When a lifting parking space is present, it may interfere with the positioning signal, so that the accuracy of positioning is lowered. Meanwhile, as the parking lot can be an indoor parking lot, the strength of positioning signals on some parking spaces is weaker due to the building, so that the positioning accuracy is lowered. Of course, the target space may be a tunnel or the like.
The target vehicle may be any vehicle in the warehouse that requires position detection, where there are two associated vehicles, e.g., a first vehicle and a second vehicle, where the distances between the first vehicle, the second vehicle and the target vehicle are equal. After the first vehicle position, the second vehicle position, and the target vehicle position are connected, an isosceles triangle may be formed. The first reference positioning position information may be GPS positioning position information, and the first reference positioning position information may be accurate positioning position information, or may be positioning position information with an error, etc. Of course, the first reference positioning position information may also be Beidou positioning position information or the like.
The vehicle inspection robot can be a positioning robot which moves in a warehouse according to a fixed path, and can accurately record the position information of the passing position, so that an inspection position information set can be obtained. For example, it may record the position information according to the movement time, or record the position information according to the movement distance, and finally obtain a plurality of inspection position information. The inspection robot can accurately position, and can transmit position information in a wired mode, a WIFI mode and the like when transmitting positioning information. The inspection robot can also perform positioning position calculation through nearby WIFI equipment so as to obtain corresponding position information. Of course, the location information may be obtained by other means, which is not particularly limited herein.
S202, acquiring first positioning position information of a first vehicle associated with the target vehicle and acquiring second positioning position information of a second vehicle associated with the target vehicle, wherein the initial position of the first vehicle, the initial position of the second vehicle and the initial position of the target vehicle are the same in distance.
The first positioning location information may be GPS location information, and the second positioning location information may also be GPS location information.
S203, determining a first distance curve according to the first positioning position information and the patrol position information set, determining a second distance curve according to the second positioning position information and the patrol position information set, and determining a reference distance curve according to the first reference positioning position information and the patrol position information set.
The first distance curve may be a curve determined according to the distance and the patrol position, where the distance between the first positioning position information and each patrol position information in the patrol position information set is determined by the first positioning position information and the patrol position information set. Specifically, for example, the first distance curve may be constructed with the inspection position as the abscissa and the distance as the ordinate. The same method is used to construct the second distance curve and the reference distance curve.
Because the vehicle inspection robot moves according to the fixed path, if the position of the target vehicle is positioned accurately, a distance association relation exists between the reference distance curve and the first distance curve and between the reference distance curve and the second distance curve, and because the initial position of the target vehicle, the position of the first vehicle and the position of the second vehicle are already set when the vehicle is parked, mutual position conversion, verification and the like can be performed to verify the position information, so that the accuracy is improved. Specifically, for example, after the position information corresponding to the position of the first vehicle and the position of the second vehicle is obtained as the accurate position information, the initial position of the target vehicle may be determined according to the vehicle parking relationship, so that the first reference positioning position information may be verified.
S204, determining a first distance difference curve according to the first distance curve and the reference distance curve, and determining a second distance difference curve according to the second distance curve and the reference distance curve.
A first distance difference curve may be determined from the first distance curve and the reference distance curve, the first distance difference curve being represented in the same coordinate system as the first distance curve. Specifically, the abscissa X of the first distance difference curve may be a patrol position, and the ordinate Y is a difference between an ordinate value of the first distance curve and an ordinate value of the reference distance curve at the same patrol position (the same X value). The second distance difference curve may be determined by a method of determining the first distance difference curve.
S205, if the similarity between the first distance difference curve and the second distance difference curve is smaller than a preset similarity threshold, acquiring positioning environment information of the target vehicle.
The preset similarity threshold may be set by an empirical value or historical data. The similarity between the first distance difference curve and the second distance difference curve can be understood as that, at the same mapping position, the smaller the average value of the offset amounts of the distance differences is, the higher the similarity is, and the larger the average value is, the lower the similarity is. The similarity may truly reflect the positional offset, and the same mapped position may be understood as a position point that is symmetrical with respect to a perpendicular line passing through the position of the target vehicle and a straight line where the position of the first vehicle and the position of the second vehicle are located, for example, as shown in fig. 1B, since an isosceles triangle may be formed after the position of the first vehicle, the position of the second vehicle, and the position of the target vehicle are connected. The inspection position of the inspection robot may be configured to be a circle.
If the similarity between the first distance difference curve and the second distance difference curve is smaller than a preset similarity threshold, it can be shown that the first positioning position information or the second positioning position information is the moved position information, if the first reference positioning position information is inaccurate, the first reference positioning position information cannot be used for position verification, and if the similarity between the first distance difference curve and the second distance difference curve is larger than the preset similarity threshold, the first reference positioning position information can be verified if the first reference positioning position information is inaccurate.
It may be specifically understood that if the similarity between the first distance difference curve and the second distance difference curve is greater than a preset similarity threshold, when the first reference positioning position information is inaccurate, initial position information (real position when not moving) of the target vehicle may be determined according to the first positioning position information and the second positioning position information, the initial position information of the target vehicle is determined through the first positioning position information and the second positioning position information, and the first reference positioning position is verified, if the positions indicated by the first reference positioning position and the initial position information are different, it is indicated that the vehicle may be illegally moved, an early warning may be sent, and if the positions indicated by the first reference positioning position and the initial position information are the same, it is indicated that the vehicle is not moved.
S206, determining target positioning position information of the target vehicle according to the positioning environment information.
The positioning environment information may include first contour information of a first location identifier, target contour information of a target vehicle, and first identifier location information of the first location identifier, and second identifier location information of the target vehicle. The first location identifier may be an identifier inherent in the first location environment image of the target vehicle for location calibration, for example, may be a location identifier symbol, which may be any symbol that may be used for location identification, or the like.
The target position distance between the first position identifier and the target vehicle can be determined according to a first distance between the contour indicated by the first contour information and the headstock of the contour indicated by the target contour information, a second distance between the contour indicated by the first contour information and the tailstock of the contour indicated by the target contour information, an average distance between the contour indicated by the first contour information and the contour indicated by the target contour information, and the like, and the target positioning position information is determined according to the target position distance and the target position information. Thus, the target positioning position information can be accurately acquired.
In this example, a first reference positioning position information of a target vehicle in a target space is acquired, a set of inspection position information of a vehicle inspection robot is acquired, first positioning position information of a first vehicle associated with the target vehicle is acquired, second positioning position information of a second vehicle associated with the target vehicle is acquired, the initial position of the first vehicle, the initial position of the second vehicle and the initial position of the target vehicle are the same, a first distance curve is determined according to the first positioning position information and the set of inspection position information, a second distance curve is determined according to the second positioning position information and the set of inspection position information, a reference distance curve is determined according to the first reference positioning position information and the set of inspection position information, a first distance difference curve is determined according to the first distance curve and the reference distance curve, a second distance difference curve is determined according to the second distance curve and the reference distance curve, if a preset distance between the first distance difference curve and the second distance difference curve is the same, a first distance curve and the target vehicle can be determined, a threshold value is smaller than a threshold value, a vehicle can be determined by checking that the vehicle is similar to the target vehicle, the position information is determined by checking that the target vehicle has a threshold value, the vehicle has a position which has a similar condition, the positioning information is determined by the position of the target vehicle, and the vehicle has a position information is determined by the threshold value, and the vehicle has a position information is similar to the position information, accuracy in determining the target positioning position information is improved.
In one possible implementation manner, a method for acquiring positioning environment information of the target vehicle includes:
a1, acquiring a first positioning environment image of the target vehicle;
a2, carrying out target recognition on the first positioning environment image to obtain first contour information of a first position mark and target contour information of the target vehicle;
a3, determining first identification position information of the first position identification in the first positioning environment image;
a4, determining second identification position information of the target vehicle in the first positioning environment image;
a5, determining the first identification position information, the second identification position information, the first contour information and the target contour information as the positioning environment information.
The first positioning environment image may be obtained through a camera in a preset range of an initial positioning position of the target vehicle, and of course, if the target vehicle is illegally moved, images in a corresponding shooting range of the target vehicle may be obtained through all cameras in the warehouse, the image in which the target vehicle exists is determined to be the first positioning environment image, and if no target image exists in the images in the corresponding shooting range of the target vehicle is obtained through all cameras in the warehouse, alarm information may be sent to indicate that the target vehicle does not exist in the warehouse.
The method for performing target recognition on the first positioning environment image may be a general target recognition method or the like, so that the first contour information of the first position identifier and the target contour information of the target vehicle can be obtained. And the first location identifies first identified location information in the first location context image and second identified location information of the target vehicle in the first location context image.
And finally, determining the first identification position information, the second identification position information, the first contour information and the target contour information as the positioning environment information, so that the positioning environment information can be quickly acquired.
In one possible implementation manner, a method for determining target positioning position information of the target vehicle according to the positioning environment information includes:
b1, acquiring a first distance between a contour indicated by the first contour information and a vehicle head contour indicated by the target contour information, acquiring a second distance between the contour indicated by the first contour information and a vehicle tail contour indicated by the target contour information, and acquiring an average distance between the contour indicated by the first contour information and the contour indicated by the target contour information;
B2, obtaining a difference value between the first distance and the second distance to obtain a first difference value;
b3, if the first difference value is smaller than a preset difference value threshold value, determining a reference position distance according to the first identification position information and the second identification position information;
b4, adjusting the reference position distance by adopting the average distance to obtain a target position distance;
b5, determining k pieces of first reference positioning position information according to the target position distance and the first identification position information, wherein k is a positive integer greater than zero;
and B6, determining the target positioning position information from k pieces of first reference positioning position information according to the target contour information.
The contour indicated by the first contour information may be understood as a contour of the first position mark, the contour indicated by the target contour information may be understood as a contour of the target vehicle, the head contour may be understood as a contour of a front bumper tip of the vehicle, and the like.
The first distance between the contour of the first position indication and the contour of the vehicle head can be understood as the average distance between the contour of the first position indication and the contour of the vehicle head. The tail profile may be understood as the tip profile of a tail bumper of a target vehicle, etc. The second distance may be obtained by a method of obtaining the first distance. The average distance between the contour indicated by the first contour information and the contour indicated by the target contour information may be understood as an average value of distances between any two points between the contour indicated by the first contour information and the contour of the target vehicle.
When the target vehicle is in the initial position, the difference between the distances between the head outline and the tail outline and the first position mark is in a range so as to indicate that the target vehicle is not moved. Therefore, a first difference value can be obtained by obtaining a difference value between the first distance and the second distance, whether the first difference value is smaller than a preset difference value threshold value is judged, if the first difference value is smaller than the preset difference value threshold value, the reference position distance is determined according to the first identification position information and the second identification position information, and the distance between the position indicated by the first identification position information and the position indicated by the second identification position information can be determined as the reference position distance. Since the first difference is smaller than the preset difference threshold, it can be understood that the target vehicle may be moved by a small extent, for example, a portion of the target vehicle leaves the parking space, if the existing positioning scheme is adopted to acquire the positioning information of the target vehicle, the positioning position of the target vehicle will be the initial position of the target vehicle, but at this time, since the vehicle is moved, whether the vehicle is moved is determined by the initial position, a larger error exists, so that the problem is solved, the reference distance position can be adjusted by an average distance to obtain the target position distance, k pieces of first reference positioning position information are determined according to the target position distance and the first identification position information, and the target positioning position information is determined from k pieces of first reference positioning position information according to the target contour information. The method for adjusting the reference distance position by the average distance may be to multiply the average distance by a preset weight parameter to obtain an adjustment value, and determine the sum of the adjustment value and the reference distance as the target distance, where the weight parameter may be a positive number or a negative number. The preset weight parameters are set through experience values or historical data.
The first identification position information can be used as a circle center, the target position distance is used as a radius to construct a target circle, and k pieces of first reference positioning position information can be obtained from the target circle. Specifically, for example, the target circle may be divided into k segments, and the position information at the end point of each segment is determined as the first reference positioning position information.
The method for determining the target positioning position information from k pieces of first reference positioning position information according to the target contour may be that m pieces of first reference positioning position information located in the target contour may be obtained, and first reference positioning position information closest to the center of the target contour in the m pieces of first reference positioning position information is determined as target positioning position information, where the center of the target contour may be understood as a geometric center of the target vehicle, and m is a positive integer greater than zero.
In this example, when a part of the target vehicle leaves the parking space and the existing positioning scheme is adopted to acquire the positioning information of the target vehicle, the positioning position of the target vehicle is usually the initial position of the target vehicle relative to the existing scheme, but at this time, because the vehicle is moved, whether the vehicle is moved is determined through the initial position, and a large error exists.
In one possible implementation, after determining the target positioning location information of the target vehicle according to the positioning environment information, the method further includes:
c1, correcting the reference distance curve according to the first distance curve and the second distance curve to obtain a target distance curve;
c2, adjusting the first reference positioning position information according to the target distance curve and the inspection position information set of the vehicle inspection robot to obtain second reference positioning position information;
and C3, correcting the target positioning position information by adopting the second reference positioning position information so as to obtain corrected target positioning position information.
The method for correcting the reference distance curve according to the first distance curve and the second distance curve may be extracting the corresponding point group from the first distance curve and the second distance curve, and correcting the reference distance curve according to the corresponding point group, and specifically may be determining the point at the same mapping point in the first distance curve and the second distance curve shown in the foregoing embodiment as the corresponding point group. After the corresponding point group is acquired, the reference distance curve may be corrected according to the distance between the corresponding point group and the initial position. After the first vehicle and the second vehicle are distinguished, the position information of the first vehicle and the second vehicle can be determined to be accurate position information, the reference distance curve can be corrected according to the corresponding point group, and specifically, the reference distance curve can be corrected according to the motion track of the inspection robot and the distance between the corresponding point group and the initial position as the distance between the corresponding point group and the initial position is fixed, so that the target distance curve is obtained.
The method for adjusting the first reference positioning position information according to the inspection position set may be that since the inspection path of the inspection robot is fixed, the motion curve of the inspection robot relative to the first reference positioning position is also fixed, and the first reference positioning position information may be adjusted according to the relative motion curve to obtain the second reference positioning position information.
The midpoint between the second reference positioning position information and the target positioning position information may be determined as target positioning position information after correction processing. The above method can be applied to a case where the target vehicle is moved by a small extent.
In this example, the target positioning position information is corrected by using the target distance curve after the reference distance curve is corrected by using the first distance curve and the second distance curve, so as to obtain corrected target positioning position information, thereby improving accuracy in acquiring the target positioning position information.
In one possible implementation manner, a method for correcting the reference distance curve according to the first distance curve and the second distance curve to obtain a target distance curve includes:
d1, determining a third distance curve between the initial position of the target vehicle and the vehicle inspection robot according to the first distance curve and the second distance curve;
And D2, correcting the reference distance curve according to the third distance curve to obtain the target distance curve.
The initial position of the target vehicle can be determined according to the first distance curve and the second distance curve, and after the initial position is determined, a third distance curve is determined according to the inspection position information set of the vehicle inspection robot.
The third distance curve may be used to correct the reference distance curve, which may specifically be: and acquiring slopes at a plurality of reference points in the third distance curve, determining the average value of the slopes at the corresponding points in the third distance curve and the reference distance curve as the slope at the corresponding point in the reference distance curve, and adjusting the reference distance curve according to the slopes to obtain the target distance curve.
In this example, by the slope average processing method, accuracy in determining the target distance curve can be improved.
In accordance with the foregoing embodiments, referring to fig. 2, fig. 2 is a schematic structural diagram of a terminal provided in an embodiment of the present application, as shown in the fig. 2, including a processor, an input device, an output device, and a memory, where the processor, the input device, the output device, and the memory are connected to each other, and the memory is configured to store a computer program, where the computer program includes program instructions, and the processor is configured to invoke the program instructions, where the program includes instructions for performing the following steps;
Acquiring first reference positioning position information of a target vehicle in a target space, and acquiring a patrol position information set of a vehicle patrol robot;
acquiring first positioning position information of a first vehicle associated with the target vehicle, and acquiring second positioning position information of a second vehicle associated with the target vehicle, wherein the initial position of the first vehicle, the initial position of the second vehicle and the initial position of the target vehicle are the same in distance;
determining a first distance curve according to the first positioning position information and the patrol position information set, determining a second distance curve according to the second positioning position information and the patrol position information set, and determining a reference distance curve according to the first reference positioning position information and the patrol position information set;
determining a first distance difference curve according to the first distance curve and the reference distance curve, and determining a second distance difference curve according to the second distance curve and the reference distance curve;
if the similarity between the first distance difference curve and the second distance difference curve is smaller than a preset similarity threshold value, acquiring positioning environment information of the target vehicle;
And determining target positioning position information of the target vehicle according to the positioning environment information.
The foregoing description of the embodiments of the present application has been presented primarily in terms of a method-side implementation. It will be appreciated that, in order to achieve the above-mentioned functions, the terminal includes corresponding hardware structures and/or software modules for performing the respective functions. Those of skill in the art will readily appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied as hardware or a combination of hardware and computer software. Whether a function is implemented as hardware or computer software driven hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The embodiment of the application may divide the functional units of the terminal according to the above method example, for example, each functional unit may be divided corresponding to each function, or two or more functions may be integrated in one processing unit. The integrated units may be implemented in hardware or in software functional units. It should be noted that, in the embodiment of the present application, the division of the units is schematic, which is merely a logic function division, and other division manners may be implemented in actual practice.
In accordance with the foregoing, referring to fig. 3, fig. 3 is a schematic structural diagram of a location information obtaining apparatus according to an embodiment of the present application. As shown in fig. 3, the apparatus includes:
a first obtaining unit 301, configured to obtain first reference positioning location information of a target vehicle in a target space, and obtain a set of inspection location information of a vehicle inspection robot;
a second obtaining unit 302 configured to obtain first positioning position information of a first vehicle associated with the target vehicle, and obtain second positioning position information of a second vehicle associated with the target vehicle, where an initial position of the first vehicle, an initial position of the second vehicle, and a distance between the initial positions of the target vehicle are the same;
a first determining unit 303, configured to determine a first distance curve according to the first positioning location information and the set of routing inspection location information, determine a second distance curve according to the second positioning location information and the set of routing inspection location information, and determine a reference distance curve according to the first reference positioning location information and the set of routing inspection location information;
a second determining unit 304, configured to determine a first distance difference curve according to the first distance curve and the reference distance curve, and determine a second distance difference curve according to the second distance curve and the reference distance curve;
A third obtaining unit 305, configured to obtain positioning environment information of the target vehicle if the similarity between the first distance difference curve and the second distance difference curve is smaller than a preset similarity threshold;
and a third determining unit 306, configured to determine target positioning location information of the target vehicle according to the positioning environment information.
In one possible implementation manner, in the acquiring the positioning environment information of the target vehicle, the third acquiring unit 305 is configured to:
acquiring a first positioning environment image of the target vehicle;
performing target recognition on the first positioning environment image to obtain first contour information of a first position mark and target contour information of the target vehicle;
determining first identification position information of the first position identification in the first positioning environment image;
and determining second identification position information of the target vehicle in the first positioning environment image;
and determining the first identification position information, the second identification position information, the first contour information and the target contour information as the positioning environment information.
In one possible implementation manner, the third determining unit 304 is configured to:
Acquiring a first distance between a contour indicated by the first contour information and a vehicle head contour indicated by the target contour information, acquiring a second distance between the contour indicated by the first contour information and a vehicle tail contour indicated by the target contour information, and acquiring an average distance between the contour indicated by the first contour information and the contour indicated by the target contour information;
obtaining a difference value between the first distance and the second distance to obtain a first difference value;
if the first difference value is smaller than a preset difference value threshold value, determining a reference position distance according to the first identification position information and the second identification position information;
the average distance is adopted to adjust the reference position distance, and the target position distance is obtained;
determining k pieces of first reference positioning position information according to the target position distance and the first identification position information;
and determining the target positioning position information from k pieces of first reference positioning position information according to the target contour information.
In one possible implementation, after determining the target positioning location information of the target vehicle according to the positioning environment information, the apparatus is further configured to:
Correcting the reference distance curve according to the first distance curve and the second distance curve to obtain a target distance curve;
according to the target distance curve and the inspection position information set of the vehicle inspection robot, the first reference positioning position information is adjusted to obtain second reference positioning position information;
and correcting the target positioning position information by adopting the second reference positioning position information to obtain corrected target positioning position information.
In one possible implementation manner, the device is configured to, in terms of correcting the reference distance curve according to the first distance curve and the second distance curve, obtain a target distance curve:
determining a third distance curve between the initial position of the target vehicle and the vehicle inspection robot according to the first distance curve and the second distance curve;
and correcting the reference distance curve according to the third distance curve to obtain the target distance curve.
The present application also provides a computer storage medium storing a computer program for electronic data exchange, the computer program causing a computer to execute part or all of the steps of any one of the position information acquisition methods described in the above method embodiments.
Embodiments of the present application also provide a computer program product comprising a non-transitory computer-readable storage medium storing a computer program that causes a computer to perform part or all of the steps of any one of the location information acquisition methods described in the method embodiments above.
It should be noted that, for simplicity of description, the foregoing method embodiments are all expressed as a series of action combinations, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required in the present application.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, such as the division of the units, merely a logical function division, and there may be additional manners of dividing the actual implementation, such as multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, or may be in electrical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present invention may be integrated in one processing unit, each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units described above may be implemented either in hardware or in software program modules.
The integrated units, if implemented in the form of software program modules, may be stored in a computer-readable memory for sale or use as a stand-alone product. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a memory, including several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in the embodiments of the present application. And the aforementioned memory includes: a U-disk, a read-only memory (ROM), a random access memory (random access memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Those of ordinary skill in the art will appreciate that all or a portion of the steps in the various methods of the above embodiments may be implemented by a program that instructs associated hardware, and the program may be stored in a computer readable memory, which may include: flash disk, read-only memory, random access memory, magnetic or optical disk, etc.
The foregoing has outlined rather broadly the more detailed description of embodiments of the present application, wherein specific examples are provided herein to illustrate the principles and embodiments of the present application, the above examples being provided solely to assist in the understanding of the methods of the present application and the core ideas thereof; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
Claims (10)
1. A position information acquisition method, characterized in that the position information acquisition method comprises:
acquiring first reference positioning position information of a target vehicle in a target space, and acquiring a patrol position information set of a vehicle patrol robot;
acquiring first positioning position information of a first vehicle associated with the target vehicle, and acquiring second positioning position information of a second vehicle associated with the target vehicle, wherein the initial position of the first vehicle, the initial position of the second vehicle and the initial position of the target vehicle are the same in distance;
Determining a first distance curve according to the first positioning position information and the patrol position information set, determining a second distance curve according to the second positioning position information and the patrol position information set, and determining a reference distance curve according to the first reference positioning position information and the patrol position information set;
determining a first distance difference curve according to the first distance curve and the reference distance curve, and determining a second distance difference curve according to the second distance curve and the reference distance curve;
if the similarity between the first distance difference curve and the second distance difference curve is smaller than a preset similarity threshold value, acquiring positioning environment information of the target vehicle;
and determining target positioning position information of the target vehicle according to the positioning environment information.
2. The position information acquisition method according to claim 1, characterized in that the acquisition of the positioning environment information of the target vehicle includes:
acquiring a first positioning environment image of the target vehicle;
performing target recognition on the first positioning environment image to obtain first contour information of a first position mark and target contour information of the target vehicle;
Determining first identification position information of the first position identification in the first positioning environment image;
and determining second identification position information of the target vehicle in the first positioning environment image;
and determining the first identification position information, the second identification position information, the first contour information and the target contour information as the positioning environment information.
3. The position information acquisition method according to claim 2, characterized in that the determining target positioning position information of the target vehicle from the positioning environment information includes:
acquiring a first distance between a contour indicated by the first contour information and a vehicle head contour indicated by the target contour information, acquiring a second distance between the contour indicated by the first contour information and a vehicle tail contour indicated by the target contour information, and acquiring an average distance between the contour indicated by the first contour information and the contour indicated by the target contour information;
obtaining a difference value between the first distance and the second distance to obtain a first difference value;
if the first difference value is smaller than a preset difference value threshold value, determining a reference position distance according to the first identification position information and the second identification position information;
The average distance is adopted to adjust the reference position distance, and the target position distance is obtained;
determining k pieces of first reference positioning position information according to the target position distance and the first identification position information;
and determining the target positioning position information from k pieces of first reference positioning position information according to the target contour information.
4. The position information acquisition method according to claim 1, characterized in that after determining target positioning position information of the target vehicle from the positioning environment information, the method further comprises:
correcting the reference distance curve according to the first distance curve and the second distance curve to obtain a target distance curve;
according to the target distance curve and the inspection position information set of the vehicle inspection robot, the first reference positioning position information is adjusted to obtain second reference positioning position information;
and correcting the target positioning position information by adopting the second reference positioning position information to obtain corrected target positioning position information.
5. The method of claim 4, wherein correcting the reference distance profile based on the first distance profile and the second distance profile to obtain a target distance profile comprises:
Determining a third distance curve between the initial position of the target vehicle and the vehicle inspection robot according to the first distance curve and the second distance curve;
and correcting the reference distance curve according to the third distance curve to obtain the target distance curve.
6. A position information acquisition apparatus, characterized in that the position information acquisition apparatus includes:
the first acquisition unit is used for acquiring first reference positioning position information of a target vehicle in a target space and acquiring a patrol position information set of the vehicle patrol robot;
a second acquisition unit configured to acquire first positional information of a first vehicle associated with the target vehicle, and acquire second positional information of a second vehicle associated with the target vehicle, the initial position of the first vehicle, the distance between the initial position of the second vehicle and the initial position of the target vehicle being the same;
a first determining unit, configured to determine a first distance curve according to the first positioning location information and the set of routing inspection location information, determine a second distance curve according to the second positioning location information and the set of routing inspection location information, and determine a reference distance curve according to the first reference positioning location information and the set of routing inspection location information;
A second determining unit configured to determine a first distance difference curve according to the first distance curve and the reference distance curve, and determine a second distance difference curve according to the second distance curve and the reference distance curve;
the third acquisition unit is used for acquiring the positioning environment information of the target vehicle if the similarity between the first distance difference curve and the second distance difference curve is smaller than a preset similarity threshold;
and a third determining unit for determining target positioning position information of the target vehicle according to the positioning environment information.
7. The positional information acquisition apparatus according to claim 6, wherein in the acquiring of the positional environment information of the target vehicle, the third acquisition unit is configured to:
acquiring a first positioning environment image of the target vehicle;
performing target recognition on the first positioning environment image to obtain first contour information of a first position mark and target contour information of the target vehicle;
determining first identification position information of the first position identification in the first positioning environment image;
and determining second identification position information of the target vehicle in the first positioning environment image;
And determining the first identification position information, the second identification position information, the first contour information and the target contour information as the positioning environment information.
8. The positional information acquisition apparatus according to claim 7, wherein the third determination unit is configured to:
acquiring a first distance between a contour indicated by the first contour information and a vehicle head contour indicated by the target contour information, acquiring a second distance between the contour indicated by the first contour information and a vehicle tail contour indicated by the target contour information, and acquiring an average distance between the contour indicated by the first contour information and the contour indicated by the target contour information;
obtaining a difference value between the first distance and the second distance to obtain a first difference value;
if the first difference value is smaller than a preset difference value threshold value, determining a reference position distance according to the first identification position information and the second identification position information;
the average distance is adopted to adjust the reference position distance, and the target position distance is obtained;
determining k pieces of first reference positioning position information according to the target position distance and the first identification position information;
And determining the target positioning position information from k pieces of first reference positioning position information according to the target contour information.
9. A terminal comprising a processor, an input device, an output device and a memory, the processor, the input device, the output device and the memory being interconnected, wherein the memory is adapted to store a computer program comprising program instructions, the processor being configured to invoke the program instructions to perform the method of any of claims 1-5.
10. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method of any of claims 1-5.
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