CN118169729A - Positioning method and equipment for unmanned vehicle and storage medium - Google Patents
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Abstract
The invention provides a positioning method, equipment and storage medium of an unmanned vehicle, wherein the method comprises the following steps: positioning through a first global positioning module of a first unmanned vehicle; under the condition that abnormal positioning data of a first global positioning module of the first unmanned vehicle is detected, controlling the first unmanned vehicle to perform local positioning through self-perceived data, and obtaining a first local map corresponding to the first unmanned vehicle; and carrying out global positioning on the first unmanned aerial vehicle based on the first local map and a global map corresponding to the second unmanned aerial vehicle to obtain a positioning result of the first unmanned aerial vehicle under a global coordinate system, wherein the global map of the second unmanned aerial vehicle is obtained based on positioning data obtained by a second global positioning module of the second unmanned aerial vehicle and sensing data obtained by a sensing module of the second unmanned aerial vehicle, the positioning data of the second global positioning module of the second unmanned aerial vehicle is normal, and the sensing ranges of the first unmanned aerial vehicle and the second unmanned aerial vehicle are overlapped. The technical problem that an unmanned vehicle is shielded by a shielding object and the positioning is inaccurate in the prior art is solved.
Description
Technical Field
The invention relates to the field of intelligent driving, in particular to a positioning method and device of an unmanned vehicle and a storage medium.
Background
Positioning in automatic driving is a basic technology, and can determine a certain position of a vehicle on a high-precision map of a scene to which the vehicle belongs, so that subsequent perception planning behaviors are completed. In an on-mine environment, the positioning of vehicles in an open air mine is typically performed using RTK carrier-phase differential techniques. The positioning mode is accurate and effective, and the error is in the centimeter level.
However, in some mining areas, the mine car may suffer from inaccurate positioning (floating solution) due to the presence of obstruction. As shown in fig. 1, the positioning of the mine card a entering the loading position is occasionally inaccurate due to the influence of the shielding of the mountain by the cliff near the loading area.
In view of this, the present invention has been proposed.
Disclosure of Invention
The invention provides a positioning method, equipment and a storage medium of an unmanned vehicle, which are used for solving the technical problem that the unmanned vehicle is shielded by a shielding object and is inaccurate in positioning in the prior art.
According to a first aspect of the present invention, there is provided a method of locating an unmanned vehicle, comprising: positioning through a first global positioning module of a first unmanned vehicle; under the condition that abnormal positioning data of a first global positioning module of the first unmanned vehicle is detected, controlling the first unmanned vehicle to perform local positioning through self-perceived data, and obtaining a first local map corresponding to the first unmanned vehicle; and carrying out global positioning on the first unmanned aerial vehicle based on the first local map and a global map corresponding to the second unmanned aerial vehicle to obtain a positioning result of the first unmanned aerial vehicle under a global coordinate system, wherein the global map of the second unmanned aerial vehicle is obtained based on positioning data obtained by a second global positioning module of the second unmanned aerial vehicle and sensing data obtained by a sensing module of the second unmanned aerial vehicle, the positioning data of the second global positioning module of the second unmanned aerial vehicle is normal, and the sensing ranges of the first unmanned aerial vehicle and the second unmanned aerial vehicle are overlapped.
Further, the sensing data includes laser point cloud data, and the performing global positioning on the first unmanned vehicle based on the first local map and a global map corresponding to the second unmanned vehicle includes: performing point cloud matching on the first local map and the global map to obtain a conversion matrix, wherein the conversion matrix is used for representing the mapping relation between the first local map and the global map; acquiring a real-time local pose of a first unmanned vehicle; and determining a positioning result of the first unmanned aerial vehicle under a global coordinate system based on the real-time local pose and the conversion matrix.
Further, the performing the point cloud matching on the first local map and the global map to obtain a transformation matrix includes: receiving the global map sent by the second unmanned vehicle, and performing point cloud matching on the first local map and the global map to obtain the conversion matrix; or sending the first local map to the second unmanned vehicle, and receiving the conversion matrix obtained by the second unmanned vehicle through point cloud matching based on the first local map and the global map.
Further, before the global positioning of the first drone based on the first local map and the global map of the second drone, the method further includes: sending an assisted positioning request message to the second unmanned aerial vehicle, wherein the assisted positioning request message is used for requesting the second unmanned aerial vehicle to assist the first unmanned aerial vehicle in positioning based on a global map generated by the second unmanned aerial vehicle; or receiving an assistance positioning message sent by the second unmanned vehicle under the condition that the first unmanned vehicle does not reach the target parking position and the parking time length reaches the appointed parking time length.
Further, under the condition that the abnormal positioning data of the first global positioning module of the first unmanned vehicle is detected, controlling the first unmanned vehicle to stop; and/or after obtaining the positioning result of the first unmanned vehicle under the global coordinate system, the method further comprises: controlling the first unmanned vehicle to enter an operation state; and/or after the first unmanned aerial vehicle is positioned based on the first local map and the global map corresponding to the second unmanned aerial vehicle, under the condition that the positioning data of the first global positioning module is detected to be restored to the normal state, the first unmanned aerial vehicle is controlled to be switched from a mode of positioning according to the self-perception data to a mode of positioning through the first global positioning module.
Further, before global positioning is performed on the first unmanned vehicle based on the first local map and a global map corresponding to the second unmanned vehicle, the method further includes: and controlling the second unmanned aerial vehicle to reach the position to be loaded.
Further, the parking position of the first unmanned vehicle is a first position, the first position is between the loading position and the position to be loaded, and the performing global positioning on the first unmanned vehicle based on the first local map and the global map corresponding to the second unmanned vehicle includes: and in the process of moving the first unmanned vehicle from the first position to the loading position, performing global positioning on the first unmanned vehicle based on the first local map and the global map.
According to a second aspect of the present invention, there is provided a method of locating an unmanned vehicle, comprising: controlling a second unmanned vehicle to perform global positioning to obtain a global map corresponding to the second unmanned vehicle, wherein the global map of the second unmanned vehicle is obtained according to positioning data of a second global positioning module of the second unmanned vehicle and sensing data of a sensing module of the second unmanned vehicle, the positioning data of the second global positioning module of the second unmanned vehicle is normal, and the sensing ranges of the first unmanned vehicle and the second unmanned vehicle are overlapped; and sending target data to the first unmanned aerial vehicle, wherein the target data comprises a global map or a conversion matrix, the first unmanned aerial vehicle carries out global positioning on the first unmanned aerial vehicle based on the global map or the conversion matrix to obtain a positioning result of the first unmanned aerial vehicle under a global coordinate system, and the conversion matrix represents a conversion relation between the global map and a first local map corresponding to the first unmanned aerial vehicle.
According to a third aspect of the present invention there is provided an electronic device comprising a memory and a processor, the memory having stored thereon computer instructions, characterised in that the computer instructions, when executed by the processor, cause any of the methods described above to be performed.
According to a fourth aspect of the present invention there is provided a non-transitory computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed by a processor, causes any of the methods described above to be performed.
The invention provides a positioning method, equipment and storage medium of an unmanned vehicle, wherein the method comprises the following steps: positioning through a first global positioning module of a first unmanned vehicle; under the condition that abnormal positioning data of a first global positioning module of the first unmanned vehicle is detected, controlling the first unmanned vehicle to perform local positioning through self-perceived data, and obtaining a first local map corresponding to the first unmanned vehicle; and carrying out global positioning on the first unmanned aerial vehicle based on the first local map and a global map corresponding to the second unmanned aerial vehicle to obtain a positioning result of the first unmanned aerial vehicle under a global coordinate system, wherein the global map of the second unmanned aerial vehicle is obtained based on positioning data obtained by a second global positioning module of the second unmanned aerial vehicle and sensing data obtained by a sensing module of the second unmanned aerial vehicle, the positioning data of the second global positioning module of the second unmanned aerial vehicle is normal, and the sensing ranges of the first unmanned aerial vehicle and the second unmanned aerial vehicle are overlapped. The technical problem that an unmanned vehicle is shielded by a shielding object and the positioning is inaccurate in the prior art is solved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a prior art mine car positioned occluded;
FIG. 2 is a flow chart of a method for locating an unmanned vehicle provided by an embodiment of the invention;
FIG. 3 is a schematic illustration of a multi-car co-location based provided in an embodiment of the present invention.
Detailed Description
To further clarify the above and other features and advantages of the present invention, a further description of the invention will be rendered by reference to the appended drawings. It should be understood that the specific embodiments presented herein are for purposes of explanation to those skilled in the art and are intended to be illustrative only and not limiting.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the specific details need not be employed to practice the present invention. In other instances, well-known steps or operations have not been described in detail in order to avoid obscuring the invention.
Example 1
The invention provides a positioning method of an unmanned vehicle, as shown in fig. 2, comprising the following steps:
step S21, positioning is performed through a first global positioning module of the first unmanned vehicle.
Specifically, the first unmanned vehicle may be a mine car with an unmanned function, the controller or the server of the first unmanned vehicle may be used as an execution main body of the method in this embodiment, and the working principle of the first global positioning module is to perform global positioning based on the RTK data, that is, the first unmanned vehicle is provided with the RTK module, and the controller of the first unmanned vehicle may acquire the RTK data from the RTK module in real time so as to perform global positioning on the first unmanned vehicle.
Step S23, controlling the first unmanned vehicle to perform local positioning through self-perception data under the condition that the positioning data of the first global positioning module of the first unmanned vehicle is detected to be abnormal, so as to obtain a first local map corresponding to the first unmanned vehicle.
Specifically, with reference to fig. 3, when a shielding occurs near the first unmanned vehicle (i.e., the mine card a in fig. 2), for example, when the unmanned vehicle approaches a cliff, an abnormality may occur in the RTK data of the first unmanned vehicle, such as a floating solution, and at this time, if global positioning is still performed by using the RTK, positioning deviation may definitely occur, so the scheme controls the first unmanned vehicle to switch from the RTK positioning mode to the SLAM (simultaneous positioning and mapping) positioning mode, or to perform SLAM local positioning by using a laser radar or a camera or other sensor loaded on the vehicle, so as to obtain the first local map.
Alternatively, referring to fig. 3, the first drone may use a sensor (radar, camera, imu module) or the like mounted on the first drone to perform laser fusion SLAM mapping to obtain a Local map local_map_a with a point a as an origin of coordinates, where the point a is a position reached by the first drone when an abnormality occurs in RTK data of the first drone is detected.
Step S25, performing global positioning on the first unmanned aerial vehicle based on the first local map and a global map corresponding to the second unmanned aerial vehicle to obtain a positioning result of the first unmanned aerial vehicle under a global coordinate system, where the global map of the second unmanned aerial vehicle is obtained based on positioning data obtained by a second global positioning module of the second unmanned aerial vehicle and sensing data obtained by a sensing module of the second unmanned aerial vehicle, and the positioning data of the second global positioning module of the second unmanned aerial vehicle is normal and there is coincidence between the sensing ranges of the first unmanned aerial vehicle and the second unmanned aerial vehicle.
Specifically, in this embodiment, with reference to fig. 3, the geographic positions of the first unmanned vehicle (mine card a) and the second unmanned vehicle (mine card B) are within a preset range, that is, the sensing ranges of the two are overlapped, the environment where the first unmanned vehicle is located is different from that of the second unmanned vehicle, the first unmanned vehicle approaches to the cliff, and because the cliff is shielded, the RTK data of the first unmanned vehicle is subjected to floating point solution, and at the moment, the second unmanned vehicle has no shielding object, so that the global positioning module is normal, and the second unmanned vehicle can obtain an accurate global map based on the global positioning module (which may be the RTK module) thereof.
Optionally, in conjunction with fig. 3, the second unmanned vehicle may use a sensor of the own vehicle (such as a laser radar behind the vehicle) to collect the point cloud at the point c to obtain local_scan_c. Because the distance from the mountain is far, the RTK positioning is not affected, the Global positioning pose Global_ pose _c of the point c can be obtained, and the map Gloal _scan_c of the laser radar under the projection coordinate system, namely the Global map, can be obtained through coordinate conversion.
Optionally, the sensing data includes laser point cloud data, and the performing global positioning on the first unmanned vehicle based on the first local map and a global map corresponding to the second unmanned vehicle includes:
Performing point cloud matching on the first local map and the global map to obtain a conversion matrix, wherein the conversion matrix is used for representing the mapping relation between the first local map and the global map;
acquiring a real-time local pose of a first unmanned vehicle;
and determining a positioning result of the first unmanned aerial vehicle under a global coordinate system based on the real-time local pose and the conversion matrix.
Specifically, the method can perform point cloud matching on the Global map Gloal _scan_c and the first Local map local_map_a to obtain a conversion matrix t_global2Local from the Global projection coordinate system Gloal _scan_c to the Local map local_map_a, and the first unmanned aerial vehicle can perform coordinate conversion on the Local pose local_ pose _i obtained based on the SLAM in the subsequent driving process through the conversion matrix t_global2Local to obtain a positioning result global_ pose _i of the mining card A under the Global projection coordinate.
Optionally, the performing the point cloud matching on the first local map and the global map to obtain a transformation matrix includes:
receiving the global map sent by the second unmanned vehicle, and performing point cloud matching on the first local map and the global map to obtain the conversion matrix; or alternatively
And sending the first local map to the second unmanned aerial vehicle, and receiving the conversion matrix obtained by the second unmanned aerial vehicle through point cloud matching based on the first local map and the global map.
Specifically, regarding the generation of the transformation matrix, the second unmanned vehicle may send the global map Gloal _scan_c to the first unmanned vehicle through vehicle-to-vehicle communication (V2X technology), and the first unmanned vehicle calculates the transformation matrix t_global2Local from the received Gloal _scan_c and the Local map local_map_a. Or the second unmanned vehicle receives the first Local map sent by the first unmanned vehicle, then the second unmanned vehicle calculates a transformation matrix T_global2Local by using the received Gloal _scan_c and the Local map local_map_a, and then the second unmanned vehicle sends the rotation matrix to the first unmanned vehicle.
It should be noted that the rotation matrix may also be generated by the cloud server.
Optionally, before the global positioning of the first unmanned vehicle based on the first local map and the global map of the second unmanned vehicle, the method further includes:
sending an assisted positioning request message to the second unmanned aerial vehicle, wherein the assisted positioning request message is used for requesting the second unmanned aerial vehicle to assist the first unmanned aerial vehicle in positioning based on a global map generated by the second unmanned aerial vehicle; or alternatively
And receiving an assistance positioning message sent by the second unmanned vehicle under the condition that the first unmanned vehicle does not reach the target parking position and the parking time reaches the appointed parking time.
Specifically, when the first unmanned vehicle finds that the RTK positioning is abnormal, the first unmanned vehicle can send a positioning assistance request message to the second unmanned vehicle around the first unmanned vehicle, and then the second unmanned vehicle performs global positioning according to the request message to generate a global map, so that the global map and the first local map are fused and positioned. Or the second unmanned vehicle detects that the first unmanned vehicle does not reach the target parking position (such as a loading position) or stops, the second unmanned vehicle judges that the first unmanned vehicle cannot be positioned, and actively sends a global map to the first unmanned vehicle, namely the auxiliary positioning message comprises the global map.
Optionally, under the condition that the abnormality of the positioning data of the first global positioning module of the first unmanned vehicle is detected, controlling the first unmanned vehicle to stop; and/or the number of the groups of groups,
After obtaining the positioning result of the first unmanned vehicle under the global coordinate system, the method further comprises: controlling the first unmanned vehicle to enter an operation state; and/or the number of the groups of groups,
After the first unmanned vehicle is positioned based on the first local map and the global map corresponding to the second unmanned vehicle, under the condition that the positioning data of the first global positioning module is detected to be restored to a normal state, the first unmanned vehicle is controlled to switch from a mode of positioning according to self-perception data to a mode of positioning through the first global positioning module.
Optionally, after the first drone performs global positioning, in conjunction with fig. 3, the first drone may continue to travel from point a until it travels to loading location b for loading.
Optionally, when the RTK data of the first unmanned vehicle is found to be normal, the first unmanned vehicle does not need other unmanned vehicles to assist in positioning, and the first unmanned vehicle is controlled to be restored to the RTK positioning mode from the SLAM local positioning mode by the scheme, so that unnecessary energy consumption is saved.
Optionally, before global positioning is performed on the first unmanned vehicle based on the first local map and a global map corresponding to the second unmanned vehicle, the method further includes:
And controlling the second unmanned aerial vehicle to reach the position to be loaded.
Specifically, referring to fig. 3, when it is determined that the RTK data of the first unmanned vehicle is abnormal at the point a, in order to assist the first unmanned vehicle to perform positioning, the scheme may remotely schedule the second unmanned vehicle to reach the position c to be loaded, and it needs to be noted that when the second unmanned vehicle reaches the position c to be loaded, there is a superposition in perception between the first unmanned vehicle and the second unmanned vehicle.
Optionally, referring to fig. 3, after the first drone (i.e. the mine card a) detects the RTK floating solution at the point a, the first drone stops waiting immediately until the second drone (i.e. the mine card B) enters the position c to be loaded and parks, and then the first drone switches from the RTK global positioning mode to the SLAM local positioning mode, and the first drone performs SLAM local positioning through sensors such as a laser radar or a camera loaded on the vehicle.
Optionally, the parking position of the first unmanned vehicle is a first position, the first position is between the loading position and the position to be loaded, and the performing global positioning on the first unmanned vehicle based on the first local map and the global map corresponding to the second unmanned vehicle includes:
And in the process of moving the first unmanned vehicle from the first position to the loading position, performing global positioning on the first unmanned vehicle based on the first local map and the global map.
Specifically, referring to fig. 3, the parking position of the first unmanned vehicle is a first position a, the first position is between a loading position b and a position c to be loaded, and the first unmanned vehicle is positioned by fusing a local map and a global map of the second unmanned vehicle when the first unmanned vehicle is at a point, so that the first unmanned vehicle is positioned by adopting the RTK directly after being blocked from the point a to the loading position b, and therefore, the first unmanned vehicle is positioned globally based on the first local map and the global map in the process of moving from the first position to the loading position.
In an alternative embodiment, in conjunction with fig. 3, when the first drone runs out of the point a after the loading is completed at the transfer station, the first drone is controlled to switch from the SLAM mode to the RTK positioning mode because the first drone is not affected by the obstacle.
The embodiment also provides a positioning method of the unmanned vehicle, which is characterized by comprising the following steps:
Controlling a second unmanned vehicle to perform global positioning to obtain a global map corresponding to the second unmanned vehicle, wherein the global map of the second unmanned vehicle is obtained according to positioning data of a second global positioning module of the second unmanned vehicle and sensing data of a sensing module of the second unmanned vehicle, the positioning data of the second global positioning module of the second unmanned vehicle is normal, and the sensing ranges of the first unmanned vehicle and the second unmanned vehicle are overlapped;
And sending target data to the first unmanned aerial vehicle, wherein the target data comprises a global map or a conversion matrix, the first unmanned aerial vehicle carries out global positioning on the first unmanned aerial vehicle based on the global map or the conversion matrix to obtain a positioning result of the first unmanned aerial vehicle under a global coordinate system, and the conversion matrix represents a conversion relation between the global map and a first local map corresponding to the first unmanned aerial vehicle.
It is to be understood that the specific features, operations and details described herein before with respect to the method of the invention may be similarly applied to the apparatus and system of the invention, or vice versa. In addition, each step of the method of the present invention described above may be performed by a corresponding component or unit of the apparatus or system of the present invention.
It is to be understood that the various modules/units of the apparatus of the invention may be implemented in whole or in part by software, hardware, firmware, or a combination thereof. The modules/units may each be embedded in a processor of the computer device in hardware or firmware or separate from the processor, or may be stored in a memory of the computer device in software for invocation by the processor to perform the operations of the modules/units. Each of the modules/units may be implemented as a separate component or module, or two or more modules/units may be implemented as a single component or module.
In one embodiment, a computer device is provided that includes a memory and a processor having stored thereon computer instructions executable by the processor, which when executed by the processor, instruct the processor to perform the steps of the method of embodiments of the present invention. The computer device may be broadly a server, a terminal, or any other electronic device having the necessary computing and/or processing capabilities. In one embodiment, the computer device may include a processor, memory, network interface, communication interface, etc. connected by a system bus. The processor of the computer device may be used to provide the necessary computing, processing and/or control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. The non-volatile storage medium may have an operating system, computer programs, etc. stored therein or thereon. The internal memory may provide an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface and communication interface of the computer device may be used to connect and communicate with external devices via a network. Which when executed by a processor performs the steps of the method of the invention.
The present invention may be implemented as a computer readable storage medium having stored thereon a computer program which, when executed by a processor, causes steps of a method of an embodiment of the present invention to be performed. In one embodiment, the computer program is distributed over a plurality of computer devices or processors coupled by a network such that the computer program is stored, accessed, and executed by one or more computer devices or processors in a distributed fashion. A single method step/operation, or two or more method steps/operations, may be performed by a single computer device or processor, or by two or more computer devices or processors. One or more method steps/operations may be performed by one or more computer devices or processors, and one or more other method steps/operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step/operation or two or more method steps/operations.
Those of ordinary skill in the art will appreciate that the method steps of the present invention may be implemented by a computer program, which may be stored on a non-transitory computer readable storage medium, to instruct related hardware such as a computer device or a processor, which when executed causes the steps of the present invention to be performed. Any reference herein to memory, storage, database, or other medium may include non-volatile and/or volatile memory, as the case may be. Examples of nonvolatile memory include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage, hard disk, solid state disk, and the like. Examples of volatile memory include Random Access Memory (RAM), external cache memory, and the like.
The technical features described above may be arbitrarily combined. Although not all possible combinations of features are described, any combination of features should be considered to be covered by the description provided that such combinations are not inconsistent.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (10)
1. A method of locating an unmanned vehicle, comprising:
Positioning through a first global positioning module of a first unmanned vehicle;
Under the condition that abnormal positioning data of a first global positioning module of the first unmanned vehicle is detected, controlling the first unmanned vehicle to perform local positioning through self-perceived data, and obtaining a first local map corresponding to the first unmanned vehicle;
And carrying out global positioning on the first unmanned aerial vehicle based on the first local map and a global map corresponding to the second unmanned aerial vehicle to obtain a positioning result of the first unmanned aerial vehicle under a global coordinate system, wherein the global map of the second unmanned aerial vehicle is obtained based on positioning data obtained by a second global positioning module of the second unmanned aerial vehicle and sensing data obtained by a sensing module of the second unmanned aerial vehicle, the positioning data of the second global positioning module of the second unmanned aerial vehicle is normal, and the sensing ranges of the first unmanned aerial vehicle and the second unmanned aerial vehicle are overlapped.
2. The method of claim 1, wherein the perceived data comprises laser point cloud data, the globally locating the first drone based on the first local map and a global map corresponding to a second drone, comprising:
Performing point cloud matching on the first local map and the global map to obtain a conversion matrix, wherein the conversion matrix is used for representing the mapping relation between the first local map and the global map;
acquiring a real-time local pose of a first unmanned vehicle;
and determining a positioning result of the first unmanned aerial vehicle under a global coordinate system based on the real-time local pose and the conversion matrix.
3. The method of claim 2, wherein performing point cloud matching on the first local map and the global map to obtain a transformation matrix comprises:
receiving the global map sent by the second unmanned vehicle, and performing point cloud matching on the first local map and the global map to obtain the conversion matrix; or alternatively
And sending the first local map to the second unmanned aerial vehicle, and receiving the conversion matrix obtained by the second unmanned aerial vehicle through point cloud matching based on the first local map and the global map.
4. A method according to claim 1 or 3, characterized in that before said global positioning of the first drone based on the first local map and a global map of a second drone, the method further comprises:
sending an assisted positioning request message to the second unmanned aerial vehicle, wherein the assisted positioning request message is used for requesting the second unmanned aerial vehicle to assist the first unmanned aerial vehicle in positioning based on a global map generated by the second unmanned aerial vehicle; or alternatively
And receiving an assistance positioning message sent by the second unmanned vehicle under the condition that the first unmanned vehicle does not reach the target parking position and the parking time reaches the appointed parking time.
5. The method according to claim 1, wherein in case of detecting abnormality of the positioning data of the first global positioning module of the first drone, the first drone is controlled to park; and/or the number of the groups of groups,
After obtaining the positioning result of the first unmanned vehicle under the global coordinate system, the method further comprises: controlling the first unmanned vehicle to enter an operation state; and/or the number of the groups of groups,
After the first unmanned vehicle is positioned based on the first local map and the global map corresponding to the second unmanned vehicle, under the condition that the positioning data of the first global positioning module is detected to be restored to a normal state, the first unmanned vehicle is controlled to switch from a mode of positioning according to self-perception data to a mode of positioning through the first global positioning module.
6. The method of claim 1, wherein prior to globally locating the first drone based on the first local map and a global map corresponding to the second drone, the method further comprises:
And controlling the second unmanned aerial vehicle to reach the position to be loaded.
7. The method of claim 5 or 6, wherein the first drone parks at a first location that is between a loading location and a location to be loaded, wherein the globally locating the first drone based on the first local map and a global map corresponding to the second drone comprises:
And in the process of moving the first unmanned vehicle from the first position to the loading position, performing global positioning on the first unmanned vehicle based on the first local map and the global map.
8. A method of locating an unmanned vehicle, comprising:
Controlling a second unmanned vehicle to perform global positioning to obtain a global map corresponding to the second unmanned vehicle, wherein the global map of the second unmanned vehicle is obtained according to positioning data of a second global positioning module of the second unmanned vehicle and sensing data of a sensing module of the second unmanned vehicle, the positioning data of the second global positioning module of the second unmanned vehicle is normal, and the sensing ranges of the first unmanned vehicle and the second unmanned vehicle are overlapped;
And sending target data to the first unmanned aerial vehicle, wherein the target data comprises a global map or a conversion matrix, the first unmanned aerial vehicle carries out global positioning on the first unmanned aerial vehicle based on the global map or the conversion matrix to obtain a positioning result of the first unmanned aerial vehicle under a global coordinate system, and the conversion matrix represents a conversion relation between the global map and a first local map corresponding to the first unmanned aerial vehicle.
9. An electronic device comprising a memory and a processor, the memory having stored thereon computer instructions, which when executed by the processor cause the method of any of claims 1-8 to be performed.
10. A non-transitory computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed by a processor, causes the method of any of claims 1 to 8 to be performed.
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| CN202410591462.9A CN118169729B (en) | 2024-05-14 | 2024-05-14 | Positioning method and equipment for unmanned vehicle and storage medium |
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