[0040] In order to make the objects, technical solutions, and advantages of the present invention, the technical solutions in the present invention will be described in connection with the drawings of the present invention, and it will be described, and , Not all of the embodiments. Based on the embodiments of the present invention, those of ordinary skill in the art will belong to the scope of the present invention without all other embodiments obtained without creative labor.
[0041] Bonded below Figure 1 - Figure 5 A positioning method, apparatus, operation machinery, and electronic device of the operation machine of the present invention will be described.
[0042] The present invention provides a method of positioning a mechanical mechanical, such as figure 1 As shown, this positioning method includes:
[0043] Step 110, based on the road side radar, acquire reflected light data corresponding to the reflective device; wherein the reflective device is fixed to the work machine.
[0044] It will be appreciated that the reflective device can be a reflective board, a reflective column or a reverse sticker.
[0045] The road side radar is also a laser radar installed on the road side, etc., and the operation machine can be a robot or a car drive. The relative position between the road side radar and the reflective device is like figure 2 Indicated.
[0046] It should be noted that the radar in step 110 and the installation position of the reflective device are completely different in the prior art solution. In the prior art plan, the radar is mounted on a robot or an automatic driving vehicle, and the reflective device is Mounted in a fixed scene, and in the present invention, the reflective device is mounted on the work machine, and the radar is mounted in a fixed scene such as the road side.
[0047] Install the reflective device on the work machine, only need to perform the installation operation of the top outer surface of the operation machine, do not need to be mechanically disassembled, large-scale modification, no need to operate the laser radar, save the installation of the operation machine Reconstruction costs.
[0048] Step 120, based on the reflected light data, the current position of the work machine and the current navigation angle are obtained.
[0049] It should be noted that the reflected light data is a reflective light data obtained by reflecting the laser light on the road side radar.
[0050] Step 130, based on the current position of the work machine and the current navigation angle, to obtain the next time position of the work machine.
[0051] It will be appreciated that step 130 can be a processor inside the work machine, based on the current position of the operation machine and the current navigation angle to obtain the next time the working machine, or the current position of the operation machine and the navigator , Send to the scheduling system, by the scheduling system, get the next time position.
[0052] Specific flow diagram of the positioning method of the operation machine provided by the present invention can also be referenced image 3.
[0053] In some embodiments, based on the current position of the work machine and the current navigation angle, the next time position of the operation machine is obtained, including:
[0054]The speed of the working machine information, current location and current heading is sent to the scheduling system, and returns the next time the system receives the scheduling position. Scheduling system by the V2X (ie: vehicle wireless communication technology) will be transmitted to the next moment the position of the working machine communication means for controlling the work vehicle.
[0055] Wherein the position of the next moment, the scheduling information is system work machine speed, current location and current heading angle obtained fusion.
[0056] Incidentally, the scheduling system can also work machine velocity information, current location and current heading, the heading angle obtained next time, the next time and the heading angle is transmitted to the working machine via V2X communication apparatus of working machine driving control.
[0057] Further, the next position of the working time and the next time the machine heading, speed information for the scheduling system to the working machine, and the current position of the current heading angle EKF fusion (i.e.: fusion Kalman filter) obtained.
[0058] In some embodiments, the data based on the reflected light, obtain the current position of the working machine and the current heading angle, comprising:
[0059] Data based on the reflected light, obtain the position of the reflective device;
[0060] Based on the location of the reflecting device, to obtain the current position of the working machine and the current heading angle;
[0061] Wherein the reflecting device comprises a first reflecting device and second reflecting device, and the height of the first reflecting device and second reflecting device is not the same.
[0062] Further, the first reflecting device is fixed to the top of the front work machine, the second reflecting device is fixed to the rear top of the work machine, a height greater than the height of the first reflecting device reflecting a second device.
[0063] After the roadside radar emits laser light, receives the reflected light data of the first reflecting device and second reflecting device, based on the reflected light data of the first reflecting device, obtain the position of the first reflecting device, and based on the reflected light of the second reflecting device data, obtain the position of the second reflecting device.
[0064] Wherein the position of the first reflecting device and second reflecting device location intermediate position are reflective device.
[0065] After the first reflecting device to obtain position location, and a second reflecting device, using the position of the first reflecting device, and the position of the second reflecting device, to obtain the current position of the working machine and the current heading angle.
[0066] In some embodiments, the positioning method of the work machine further comprises:
[0067] Before data based on the reflected light, obtain the position of the reflecting device, a roadside radar calibrated to the same coordinate system.
[0068] Wherein the number of roadside radar is at least 3; positions reflecting device, at the same coordinate position of the coordinate system.
[0069] Further, the number of roadside radar is four, each with a left and right side in front of roadside radar working machine, the left and right sides have a roadside radar behind working machine.
[0070] Different data based on the reflected light received by the roadside radar, reflecting the position of the device obtained is not uniform, all roadside radar are calibrated to the same coordinate system, based on the reflected light contribute to the plurality of roadside radar receiver the resulting reflective device locations united.
[0071] In some embodiments, the data based on the reflected light, obtain the current position of the working machine and the current heading angle, comprising:
[0072] Based on least squares method, the reflected light data obtained by fitting position of the first reflecting device and second reflecting device; wherein the position of the first reflecting device as the current position of the working machine, the first reflecting device may be located at the working mechanical front end, the second reflecting device is located in the rear end of the working machine;
[0073] Based on a difference between the position of the first reflecting device and second reflecting device, to obtain the current heading of the work machine.
[0074] It will be appreciated that the data of the reflected light received by the plurality of roadside radar mechanical work around to obtain the position of the first reflecting device and second reflecting device, after fitting, can get the current job machine Location. Incidentally, the current position of the working machine is obtained here, the working machine is in a fixed location in the scene.
[0075] After some embodiments, least squares method based on the reflected light data obtained by fitting position of the first reflecting device and second reflecting device, wherein the position of the first reflecting device as the current position of the working machine, combined point cloud matching algorithm position of the first reflecting device and second reflecting device is corrected.
[0076] The present invention provides a positioning method using the least squares algorithm speed information reflecting the position of the device, the point cloud and then to further optimize the matching algorithm, working in conjunction with mechanical feedback is EKF fusion trilateral positioning method using reflective than prior devices positioned more with robustness.
[0077] Incidentally, the current heading of the work machine, may be the same coordinate system, the difference between the ordinate of the first reflecting device and second reflecting device, the difference between the first reflecting device and second reflecting device of abscissas ratio.
[0078] In some embodiments, the roadside based radar, the reflected light data acquired corresponding to the reflective device, comprising:
[0079] Based on the roadside radar scan, acquiring point cloud corresponding to the working machine;
[0080] From the point cloud, the feature point extraction target reflectivity greater than the reflectivity as a reflective device corresponds to the reflected light data.
[0081] Incidentally, the target reflectance means minimum reflectance reflector, when the extraction target reflectivity greater than the reflectivity of the feature points, the feature point can be determined corresponding to the feature point reflecting means.
[0082] In summary, the positioning method of the present invention provides a work machine based on the roadside radar data acquisition the reflected light corresponding to the reflective device; wherein the reflecting device is fixed to the working machine; data based on the reflected light, obtain the current position of the work machine and current heading angle; Finally, based on the current location and current heading, the next time to give the position of the working machine.
[0083] The present invention provides a positioning method, a roadside radar is provided, need not be provided in the working machine, the working machine does not require disassembly for transformation, in a work machine does not require installation of radar, remote control and chassis controllers. The reflective device is only fixed to the work machine, and does not require the work machine to be disassembled, thereby adopting the positioning method provided by the present invention to avoid removal and significant transformation of the operation machine, and can reduce costs. For operational machines that cannot be disassembled, it is only necessary to install the reflective device on the work machine, and the application range of the work machine can be used, which is more efficient in the need for repeated and rapid deployment.
[0084] Positioning means of the following working machine provided by the present invention will be described, the positioning method for positioning a work machine work machine described below may correspond to that described above with reference to each other.
[0085] like Figure 4 Positioning means shown, work machine 400 comprises: a first acquiring module 410, data processing module 420 and a second acquiring module 430.
[0086] A first acquiring module 410 based on a roadside radar data acquisition the reflected light corresponding to the reflective device; wherein the reflecting device is fixed to the work machine.
[0087] The data processing module 420 based on the reflected light data to obtain the current position and current heading of the working machine angle.
[0088] A second acquiring module 430 based on the job for the current location and current heading machine, to obtain a next time position of the working machine.
[0089] In some embodiments, the second obtaining module 430 is further configured to send the working machine speed information, current location and current heading angle to the scheduling system, and returns the next time the system receives the scheduling position.
[0090] Wherein the position of the next moment, the scheduling information is system work machine speed, current location and current heading angle obtained fusion.
[0091] Incidentally, the scheduling system can also work machine velocity information, current location and current heading, the heading angle obtained next time, the next time and the heading angle is transmitted to the working machine via a second acquisition module communication apparatus V2X 430, a work vehicle is controlled.
[0092] In some embodiments, data processing module 420 includes: a first calculating means and the second computing means.
[0093] A first calculation unit for the data based on the reflected light, obtain the position of the reflective device.
[0094] Second calculation unit based on the position of the reflective device, to obtain the current position of the working machine and the current heading angle.
[0095] Wherein the reflecting device comprises a first reflecting device and second reflecting device, and the height of the first reflecting device and second reflecting device is not the same.
[0096] In some embodiments, the positioning means 400 of the working machine further comprising: a coordinate system building blocks.
[0097] Means for constructing a coordinate system based on the reflected light prior to the data, obtain the position of the reflecting device, a roadside radar calibrated to the same coordinate system.
[0098] Wherein the number of roadside radar is at least 3; positions reflecting device, at the same coordinate position of the coordinate system.
[0099] In some embodiments, data processing module 420 includes: a current position calculation unit, and a current heading angle calculating means.
[0100] Current position calculating means based on the least squares method, the reflected light data obtained by fitting position of the first reflecting device and second reflecting device; wherein the position of the first reflecting device as the current position of the working machine.
[0101] Means for calculating a current heading angle based on a difference between the position of the first reflecting device and second reflecting device, to obtain the current heading of the work machine.
[0102] In some embodiments, the first acquiring module 410 includes: point cloud data acquiring unit acquiring unit and the reflected light.
[0103] Means for acquiring point cloud based on a roadside radar scan, acquiring point cloud corresponding to the work machine.
[0104] Reflected light data acquisition unit for the feature point from the point cloud, the extraction target reflectivity greater than the reflectivity as a reflective device corresponds to the reflected light data.
[0105] The present invention also provides a work machine, work machine including the above-described positioning apparatus 400 of the work machine.
[0106] Further, the present invention provides a working machine, since the positioning work machine 400 comprises an apparatus as described above, and therefore also have the various advantages mentioned above.
[0107] The electronic device and a storage medium of the present invention provides the following will be described, the positioning method of the work machine and a storage medium of the electronic device described below may correspond to that described above with reference to each other.
[0108] Figure 5 Examples of an electronics structural schematic diagram, such as Figure 5 As shown, the electronic device may include a processor 510, a communication interface 520, a memory 530, and a communication bus 540, wherein the processor 510, the communication interface 520, and the memory 530 pass the communication bus 540. Complete communication between each other. Processor 510 can call logic instructions in the memory 530 to perform a positioning method of the work machine, which includes:
[0109] Step 110, based on the road side radar, acquire reflected light data corresponding to the reflective device; wherein the reflective device is fixed to the operation machine;
[0110] Step 120, based on the reflected light data, the current position of the operation machine and the current greeque angle;
[0111] Step 130, based on the current position of the work machine and the current navigation angle, to obtain the next time position of the work machine.
[0112] Further, the logic instructions in the above-described memory 530 can be implemented in a single product to be readable in a single computer-readable storage medium by software functional units. Based on this understanding, the technical solution of the present invention essentially ors a portion of the prior art or a portion of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including Several instructions are used to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or some steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, RAD-ONLY MEMORY), random access memory (RAM, RANDOM Access Memory), disk or disc or optical discs can store program code .
[0113] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program instruction is computed When executed, the computer can perform the positioning method of the operation machine provided by each method, including:
[0114] Step 110, based on the road side radar, acquire reflected light data corresponding to the reflective device; wherein the reflective device is fixed to the operation machine;
[0115] Step 120, based on the reflected light data, the current position of the operation machine and the current greeque angle;
[0116] Step 130, based on the current position of the work machine and the current navigation angle, to obtain the next time position of the work machine.
[0117] Yet another aspect, the present invention also provides a non-transitory computer readable storage medium, which stores a computer program that is implemented when executed by the processor to perform the positioning method of the above-described operational machine, including :
[0118] Step 110, based on the road side radar, acquire reflected light data corresponding to the reflective device; wherein the reflective device is fixed to the operation machine;
[0119] Step 120, based on the reflected light data, the current position of the operation machine and the current greeque angle;
[0120] Step 130, based on the current position of the work machine and the current navigation angle, to obtain the next time position of the work machine.
[0121] The embodiment described above is merely schematic, wherein the unit as the separation component may be or may be or may not be physically separated, and the components displayed as a unit may or may or may be not a physical unit, that is, it can be located One place or can also be distributed to multiple network units. The object of the present embodiment can be implemented in accordance with the actual needs to select the part or all of the modules. One of ordinary skill in the art can understand and implement without the creative labor.
[0122] Through the description of the above embodiments, those skilled in the art will clearly understand that the embodiments can be implemented by means of software plus necessary, of course, can of course pass through hardware. Based on this understanding, the above technical solution essentially or contributes to the prior art can be embodied in the form of software products, which can be stored in a computer readable storage medium, such as ROM / RAM, magnetic Disc, CD, etc., including several instructions to enable a computer device (can be a personal computer, server, or network device, etc.) to perform certain portions of various embodiments or embodiments.
[0123] It will be noted that the above embodiments are intended to illustrate the technical solutions of the present invention, not to limit the present invention, and will be apparent to those skilled in the art, which will be understood by those skilled in the art. The technical scheme described in the foregoing embodiments is modified, or the equivalent replacement thereof is performed in which these modifications or replacements do not allow the nature of the respective technical solutions to the spirit and scope of the technical solutions of the present invention.
