Device positioning method, device, electronic device and storage medium

Abstract

The present application relates to a device positioning method, apparatus, electronic device and storage medium, the method comprising: obtaining the actual positioning data of at least two reflective devices within the target range of the AGV in the world coordinate system, constructing the reflective device coordinate system based on the actual positioning data, and obtaining the first coordinate conversion relationship between the reflective device coordinate system and the world coordinate system; obtaining the second coordinate conversion relationship according to the distance and angle from the laser detector to the at least two reflective devices; obtaining the real-time position and posture data of the laser detector in the world coordinate system according to the two coordinate conversion relationships, and obtaining the real-time position and posture data of the AGV in the world coordinate system according to the real-time position and posture data of the laser detector in the world coordinate system and the coordinate conversion relationship between the laser detector and the target position of the AGV. The present application starts with the conversion relationship between the kinematic coordinate systems, and solves the position and posture of the laser detector through mathematical matrix operations, which is fast, efficient and highly robust.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a device positioning method, apparatus, electronic device and storage medium. Background Art

[0002] For a constructed map environment (i.e., the coordinates of the reflective columns in the map are known), AGV (Autonomous Guided Vehicle) needs to know its position in the map during actual work. The traditional method of positioning laser detectors requires measuring the distance from the laser sensor to the three reflective columns. There is also a more advanced double reflective column positioning method based on data screening using complex domain information of reflected light. However, it requires the introduction of redundant and cumbersome data processing modes such as complex domain information of reflected light and data screening, which increases the computational complexity and does not significantly improve the positioning accuracy. Summary of the invention

[0003] The present application provides a device positioning method, apparatus, electronic device and storage medium to solve the problem that at least three reflective columns are usually required for AGV positioning in the prior art and the more advanced double reflective column algorithm has high complexity. The technical solution of the present application is as follows:

[0004] According to a first aspect of an embodiment of the present application, a device positioning method is provided, the method comprising: when the AGV moves to a preset upper line area, assigning preset AGV posture data to the AGV, the preset AGV posture data being posture data in a world coordinate system corresponding to the preset upper line area; scanning and identifying at least two reflective devices within a target range, and inferring predicted positioning data of the at least two reflective devices in a world coordinate system in combination with the preset AGV posture data; acquiring preset reflective device positioning data corresponding to the reflective device within a target scanning range of the preset upper line area, the preset reflective device positioning data being positioning data in a world coordinate system; based on the predicted positioning data and the preset reflective device positioning data, obtaining the positioning data of the at least two reflective devices in the world coordinate system through a matching algorithm. The present invention relates to a method for obtaining the actual positioning data of the at least two reflective devices in the reflective device coordinate system; constructing a reflective device coordinate system based on the actual positioning data of the at least two reflective devices, and obtaining a first coordinate transformation relationship between the reflective device coordinate system and the world coordinate system; calculating the coordinates of the laser detector in the reflective device coordinate system according to the distance and angle from the laser detector carried by the AGV to the at least two reflective devices, and obtaining a second coordinate transformation relationship between the laser detector coordinate system and the reflective device coordinate system; obtaining the real-time posture data of the laser detector in the world coordinate system according to the first coordinate transformation relationship and the second coordinate transformation relationship; obtaining the real-time posture data of the AGV in the world coordinate system according to the real-time posture data of the laser detector in the world coordinate system and the coordinate transformation relationship between the laser detector and the calibrated position of the AGV.

[0005] Furthermore, the method also includes: when at least three reflective devices are scanned and identified within the target range, real-time posture data are calculated for any two of the at least three reflective devices in the same manner as described above to obtain at least two real-time posture data; and the average value of the at least two real-time posture data is used as the real-time posture data of the AGV in the world coordinate system.

[0006] Furthermore, before the step of obtaining the real-time posture data of the AGV in the world coordinate system based on the real-time posture data of the laser detector in the world coordinate system and the coordinate transformation relationship between the laser detector and the calibrated position of the AGV, the method also includes: obtaining posture change data of the odometer carried by the AGV from the current position to the next position; obtaining the coordinate transformation relationship between the laser detector and the odometer; obtaining the next posture data of the laser detector in the world coordinate system based on the current posture data of the laser detector in the world coordinate system, the posture change data and the coordinate transformation relationship between the laser detector and the odometer; and fusing the next posture data with the real-time posture data of the laser detector in the world coordinate system to obtain optimized real-time posture data of the laser detector in the world coordinate system.

[0007] Furthermore, the scanning and identification of at least two reflective devices within the target range, and combining with the preset AGV posture data, calculating the predicted positioning data of the at least two reflective devices in the world coordinate system includes: setting an intensity threshold, and performing intensity filtering on the surfaces of the at least two reflective devices within the target range according to the intensity threshold; setting a position threshold, and performing position filtering on the at least two reflective devices within the target range according to the position threshold; obtaining relative posture data of the reflective devices within the target range according to the results of intensity filtering and position filtering; and obtaining the predicted positioning data of the at least two reflective devices in the world coordinate system according to the preset AGV posture data and the relative posture data.

[0008] Furthermore, the at least two reflective devices include a first reflective device and a second reflective device. Accordingly, the reflective device coordinate system is constructed based on the actual positioning data of the at least two reflective devices to obtain a first coordinate transformation relationship between the reflective device coordinate system and the world coordinate system, including: taking the midpoint of the line connecting the first reflective device and the second reflective device as the origin of the reflective device coordinate system; and determining the horizontal axis and vertical axis of the reflective device coordinate system based on the origin of the reflective device coordinate system and the vector line connecting the first reflective device and the second reflective device.

[0009] Furthermore, before the step of assigning preset AGV posture data to the AGV when the AGV moves to the preset upper line area, wherein the preset AGV posture data is posture data in a world coordinate system corresponding to the preset upper line area, the method also includes: obtaining a pre-constructed world map, wherein the world map includes posture data corresponding to the preset upper line area, and positioning data corresponding to each reflective device.

[0010] According to a second aspect of an embodiment of the present application, a device positioning apparatus is provided, the apparatus comprising: an AGV initial position assignment module, for assigning preset AGV posture data to the AGV when the AGV moves to a preset upper line area, the preset AGV posture data being posture data in a world coordinate system corresponding to the preset upper line area; a reflective device position data acquisition module, for scanning and identifying at least two reflective devices within a target range, and inferring predicted positioning data of the at least two reflective devices in a world coordinate system in combination with the preset AGV posture data; acquiring preset reflective device positioning data corresponding to the reflective devices within a target scanning range of the preset upper line area, the preset reflective device positioning data being positioning data in a world coordinate system; a reflective device actual position determination module, for obtaining, based on the predicted positioning data and the preset reflective device positioning data, the actual position of the at least two reflective devices in the world through a matching algorithm. a first coordinate transformation relationship acquisition module, used for constructing a reflective device coordinate system based on the actual positioning data of the at least two reflective devices, and obtaining a first coordinate transformation relationship between the reflective device coordinate system and the world coordinate system; calculating the coordinates of the laser detector in the reflective device coordinate system according to the distance and angle from the laser detector carried by the AGV to the at least two reflective devices, and obtaining a second coordinate transformation relationship between the laser detector coordinate system and the reflective device coordinate system; a laser detector posture data determination module, used for obtaining the real-time posture data of the laser detector in the world coordinate system according to the first coordinate transformation relationship and the second coordinate transformation relationship; an AGV posture data determination module, used for obtaining the real-time posture data of the AGV in the world coordinate system according to the real-time posture data of the laser detector in the world coordinate system, and the coordinate transformation relationship between the laser detector and the calibrated position of the AGV.

[0011] Furthermore, the device also includes: an odometer posture change data acquisition module, which is used to obtain the posture change data of the odometer carried by the AGV from the current position to the next position; a second coordinate transformation relationship acquisition module, which is used to obtain the coordinate transformation relationship between the laser detector and the odometer; a laser detector next posture data acquisition module, which is used to obtain the next posture data of the laser detector in the world coordinate system according to the current posture data of the laser detector in the world coordinate system, the posture change data and the coordinate transformation relationship between the laser detector and the odometer; a data fusion module, which is used to fuse the next posture data with the real-time posture data of the laser detector in the world coordinate system to obtain the optimized real-time posture data of the laser detector in the world coordinate system.

[0012] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement a method as described in any one of the above-mentioned first aspects.

[0013] According to the fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided. When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device can execute any method described in the first aspect of the embodiments of the present application.

[0014] According to a fifth aspect of the embodiments of the present application, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute any of the methods described in the first aspect of the embodiments of the present application.

[0015] The technical solution provided by the embodiments of the present application brings at least the following beneficial effects:

[0016] In the embodiment of the present application, by using the positioning method of coordinate system transformation in kinematics, the minimum requirement limit of the number of reflective devices in the positioning algorithm is reduced to two, breaking through the technical bottleneck of the minimum number of reflective devices and greatly improving the applicability of laser navigation technology. In addition, starting from the conversion relationship between the kinematic coordinate systems, the position and posture of the laser detector are solved through mathematical matrix operations, which is fast, efficient and highly robust. And the method of local map and sensor fusion is adopted to further improve the positioning accuracy of dual reflective devices.

[0017] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0019] Figure 1 is a flow chart of a device positioning method provided in an embodiment of the present application;

[0020] Figure 2 It is a schematic diagram of the conversion relationship between the world coordinate system, the laser detector coordinate system and the reflective device coordinate system in the device positioning method provided in an embodiment of the present application;

[0021] Figure 3 It is a flow chart of a method for optimizing real-time posture data in a device positioning method provided in an embodiment of the present application;

[0022] Figure 4It is a schematic diagram of the conversion relationship between the world coordinate system, the odometer coordinate system and the laser detector coordinate system in a device positioning method provided in an embodiment of the present application;

[0023] Figure 5 It is a structural schematic diagram of a device positioning apparatus provided in an embodiment of the present application;

[0024] Figure 6 It is a structural schematic diagram of a device positioning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to enable ordinary persons in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0027] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for display, data for analysis, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0028] In the related technology, the method of positioning the laser detector needs to measure the distance from the laser sensor to the three reflective columns. There is also a more advanced double reflective column positioning method based on data screening using complex domain information of reflected light. However, it needs to introduce redundant and cumbersome data processing modes such as complex domain information of reflected light and data screening, which increases the computational complexity and does not significantly improve the positioning accuracy.

[0029] Based on this, an embodiment of the present application provides a device positioning method. Figure 1 is a flow chart of a device positioning method according to an exemplary embodiment. Figure 1 As shown, the method comprises the following steps:

[0030] Step S101: when the AGV moves to a preset upper line area, assigning preset AGV posture data to the AGV, the preset AGV posture data being posture data in a world coordinate system corresponding to the preset upper line area;

[0031] In an embodiment of the present application, before the step of assigning preset AGV posture data to the AGV when the AGV moves to the preset upper line area, wherein the preset AGV posture data is posture data in a world coordinate system corresponding to the preset upper line area, the method may further include:

[0032] A pre-constructed world map is obtained, wherein the world map includes posture data corresponding to the preset upper line area and positioning data corresponding to each reflective device.

[0033] The pre-built world map can be thought of as an actual world map where the coordinates of each reflective device are known.

[0034] There are several "online points" set in the world map. "Online points" are a series of areas with different numbers and directions, such as square areas with directions. These areas are also preset online areas. When the AGV needs to be operated online, the AGV needs to be driven to a certain "online point" and ensure that the direction of the AGV is consistent with that of the "online point". At this time, the AGV posture data recorded at the "online point" can be assigned to the AGV.

[0035] Step S103: Scan and identify at least two reflective devices within the target range, and calculate the predicted positioning data of the at least two reflective devices in the world coordinate system in combination with the preset AGV posture data; obtain the preset reflective device positioning data corresponding to the reflective device within the target scanning range of the preset upper line area, and the preset reflective device positioning data is the positioning data in the world coordinate system;

[0036] In the embodiment of the present application, the reflective device may be a reflective column or a reflective plate. It is understandable that the reflective device is not limited to the form of a column or a plate, but may also be a reflective structure in other forms.

[0037] Specifically, when the AGV drives to a certain "online point" and is assigned the AGV posture data recorded at the "online point", the laser detector carried by the AGV is used to scan the reflective equipment in the current field of view, and the reflective columns are identified by intensity filtering the high reflective intensity points in the local map and position filtering the reflective equipment in the current field of view (in actual work, it is usually assumed that the distance range between a certain "online point" and a reflective device of a certain posture angle is known).

[0038] That is, scanning and identifying at least two reflective devices within the target range, and calculating the predicted positioning data of the at least two reflective devices in the world coordinate system in combination with the preset AGV posture data may include the following steps:

[0039] Setting an intensity threshold, and performing intensity filtering on the surfaces of the at least two reflective devices within the target range according to the intensity threshold;

[0040] Setting a position threshold, and performing position filtering on the at least two reflective devices within the target range according to the position threshold;

[0041] According to the results of intensity filtering and position filtering, the relative position data of the reflective device within the target range is obtained;

[0042] According to the preset AGV posture data and the relative posture data, the predicted positioning data of the at least two reflective devices in the world coordinate system are obtained.

[0043] For example, Figure 2 As shown, the laser detector is located at the "upper line point" position L(x l ,y l ,θ l ) world When the relative position data A(x′) of the reflective device A in the target range in the laser detector coordinate system is obtained through scanning and recognition. a ,y′ a ) laser And the relative position data B(x′) of the reflective device B in the laser detector coordinate system b ,y′ b ) laser .

[0044] Step S105: Based on the predicted positioning data and the preset reflective device positioning data, actual positioning data of the at least two reflective devices in the world coordinate system are obtained through a matching algorithm;

[0045] In practical applications, since there may be a slight deviation between the actual position of the AGV and the recorded position of the "on-line point", depending on the size of the area corresponding to the "on-line point" (position deviation) and the degree of overlap of the orientation (posture deviation), matching positioning is required.

[0046] Specifically, the position of the reflective device in the current scan in the world coordinate system is calculated by using the preset AGV posture data and the intensity and position filtering algorithm in step S103, and then the reflective device in the current scan is matched to the reflective device in the map. Figure 2 As shown in the figure, the reflective device scanned by the AGV at this "upline point" in a certain posture is matched with the reflective device of the "upline point" in the pre-built map under the posture field of view, and the precise coordinate data A (xa ,y a ) world and B(x b ,y b ) world .

[0047] Among them, the posture data of the reflective device scanned by the AGV at this "online point" in a certain posture is the predicted positioning data, the posture data of the reflective device at the "online point" in the field of view of the posture in the pre-constructed map is the preset reflective device positioning data, and the precise coordinate data of at least two reflective devices obtained by matching in the world coordinate system are the actual positioning data of the at least two reflective devices in the world coordinate system.

[0048] Step S107: constructing a reflective device coordinate system based on the actual positioning data of the at least two reflective devices, and obtaining a first coordinate conversion relationship between the reflective device coordinate system and the world coordinate system; calculating the coordinates of the laser detector in the reflective device coordinate system according to the distance and angle from the laser detector carried by the AGV to the at least two reflective devices, and obtaining a second coordinate conversion relationship between the laser detector coordinate system and the reflective device coordinate system;

[0049] In an embodiment of the present application, the at least two reflective devices may include a first reflective device and a second reflective device. Accordingly, the reflective device coordinate system is constructed based on the actual positioning data of the at least two reflective devices, and the first coordinate conversion relationship between the reflective device coordinate system and the world coordinate system may include:

[0050] The midpoint of the line connecting the first light-reflecting device and the second light-reflecting device is used as the origin of the light-reflecting device coordinate system;

[0051] The horizontal axis and the vertical axis of the reflective device coordinate system are determined based on the origin of the reflective device coordinate system and a vector line between the first reflective device and the second reflective device.

[0052] Specifically, Figure 2 As shown, the vector Midpoint C(x p ,y p ,θ p ) world The direction of 90° counterclockwise rotation is the x-axis of the reflective device coordinate system. The direction is the y-axis to build the reflective device coordinate system Posts, and obtain the coordinate transformation of the reflective device coordinate system in the world coordinate system That is, the first coordinate transformation relationship is obtained.

[0053] like Figure 2As shown, the coordinates of the laser detector in the reflective device coordinate system are calculated based on the distances d1 and d2 from the laser detector to the two reflective devices and the angles θ1 and θ2, and the coordinate transformation is obtained. That is, the second coordinate transformation relationship is obtained.

[0054] Step S109: acquiring real-time position and posture data of the laser detector in a world coordinate system according to the first coordinate transformation relationship and the second coordinate transformation relationship;

[0055] Specifically, we can use the formula Calculate the position and attitude of the laser detector in the world coordinate system yes The inverse matrix of ).

[0056] Step S111: obtaining the real-time posture data of the AGV in the world coordinate system according to the real-time posture data of the laser detector in the world coordinate system and the coordinate transformation relationship between the laser detector and the calibrated position of the AGV.

[0057] In the embodiment of the present application, the calibrated position is used to characterize the position of the AGV. In actual use, the positioning of the AGV usually refers to the position of the center of the vehicle body, so the calibrated position can be the center of the vehicle body.

[0058] In addition, AGV is generally considered to be a rigid body. Therefore, the relationship between the laser detector and the body center representing the position of the AGV is fixed. According to the coordinate transformation relationship from the laser detector to the body center, the position and posture of the laser detector are converted to the body posture of the AGV, and the position and posture of the body center of the AGV in the world coordinate system are obtained to complete the positioning of the AGV.

[0059] Of course, the position of the laser detector can also be directly used as the calibrated position of the AGV. In this way, the real-time position and posture data of the laser detector in the world coordinate system can be directly used as the real-time position and posture data of the AGV in the world coordinate system.

[0060] In the embodiment of the present application, by using the positioning method of coordinate system transformation in kinematics, the minimum requirement limit of the positioning algorithm on the number of reflective devices is reduced to two, breaking through the technical bottleneck of the minimum number of reflective devices and greatly improving the applicability of laser navigation technology. At the same time, the local map and sensor fusion method is adopted to further improve the positioning accuracy of dual reflective devices.

[0061] In some embodiments, the device positioning method may further include:

[0062] When at least three reflective devices are identified within the target range during scanning, real-time position and posture data are calculated for any two of the at least three reflective devices in the same manner as above to obtain at least two real-time position and posture data;

[0063] The average value of the at least two real-time posture data is used as the real-time posture data of the AGV in the world coordinate system.

[0064] In practical applications, if the laser detector detects more than three reflective devices, then any two reflective devices can be taken for multiple calculations, and the average value of the multiple calculation results can be used as the positioning result to reduce errors.

[0065] For example, if the laser detector detects three reflective devices A, B and C, then steps S105 to S111 can be executed for reflective device A and reflective device B to obtain real-time pose data of the AGV in the world coordinate system, and steps S105 to S111 can be executed for reflective device A and reflective device C to obtain real-time pose data of the AGV in the world coordinate system, and steps S105 to S111 can be executed according to reflective device B and reflective device C to obtain real-time pose data of the AGV in the world coordinate system, and the average value of the three real-time pose data can be used as the real-time pose data of the AGV in the world coordinate system.

[0066] In some embodiments, Figure 3 As shown, before the step of obtaining the real-time posture data of the AGV in the world coordinate system according to the real-time posture data of the laser detector in the world coordinate system and the coordinate transformation relationship between the laser detector and the calibrated position of the AGV, the method may further include:

[0067] Step S301: obtaining the posture change data of the odometer carried by the AGV from the current position to the next position;

[0068] Step S303: obtaining a coordinate transformation relationship between the laser detector and the odometer;

[0069] Specifically, the AGV is generally considered to be a rigid body, and therefore, the relationship between the laser detector and the body center of the AGV (ie, the odometer) is fixed, and the coordinate transformation relationship between the laser detector and the odometer can be calibrated in advance.

[0070] Step S305: obtaining next posture data of the laser detector in the world coordinate system according to the current posture data of the laser detector in the world coordinate system, the posture change data, and the coordinate transformation relationship between the laser detector and the odometer;

[0071] Specifically, Figure 4 As shown, the change of the laser detector from the first position to the second position is equal to the change of the odometer from the first position to the second position, that is, At the same time, the current posture data of the laser detector and the coordinate transformation relationship between the laser detector and the odometer are known, so that the posture change of the laser detector is obtained according to the posture change of the odometer, and the position and posture of the laser detector at the next moment are estimated (that is, the posture data of the odometer at the current position and the posture data at the next position are known, the current posture data of the laser detector is known, and the next posture data of the laser detector is solved).

[0072] Step S307: Fusing the next pose data with the real-time pose data of the laser detector in the world coordinate system to obtain optimized real-time pose data of the laser detector in the world coordinate system.

[0073] Specifically, the next posture data obtained in step S305 and the real-time posture data of the laser detector in the world coordinate system obtained in step S109 can be fused to obtain optimized real-time posture data of the laser detector in the world coordinate system to improve the positioning accuracy of the AGV in motion.

[0074] Figure 5 A device positioning apparatus is provided according to an embodiment of the present application, and the apparatus may include:

[0075] The AGV initial position assignment module 510 is used to assign preset AGV posture data to the AGV when the AGV moves to the preset upper line area, wherein the preset AGV posture data is posture data in the world coordinate system corresponding to the preset upper line area;

[0076] The reflective device position data acquisition module 520 is used to scan and identify at least two reflective devices within the target range, and in combination with the preset AGV posture data, calculate the predicted positioning data of the at least two reflective devices in the world coordinate system; obtain the preset reflective device positioning data corresponding to the reflective device within the target scanning range of the preset upper line area, and the preset reflective device positioning data is the positioning data in the world coordinate system;

[0077] A reflective device actual position determination module 530, configured to obtain actual positioning data of the at least two reflective devices in a world coordinate system through a matching algorithm based on the predicted positioning data and the preset reflective device positioning data;

[0078] A first coordinate transformation relationship acquisition module 540 is used to construct a reflective device coordinate system based on the actual positioning data of the at least two reflective devices, and obtain a first coordinate transformation relationship between the reflective device coordinate system and the world coordinate system; according to the distance and angle between the laser detector carried by the AGV and the at least two reflective devices, the coordinates of the laser detector in the reflective device coordinate system are calculated to obtain a second coordinate transformation relationship between the laser detector coordinate system and the reflective device coordinate system;

[0079] A laser detector posture data determination module 550 is used to obtain real-time posture data of the laser detector in a world coordinate system according to the first coordinate transformation relationship and the second coordinate transformation relationship;

[0080] The AGV posture data determination module 560 is used to obtain the real-time posture data of the AGV in the world coordinate system according to the real-time posture data of the laser detector in the world coordinate system and the coordinate conversion relationship between the laser detector and the calibrated position of the AGV.

[0081] In some embodiments, the apparatus may further include:

[0082] A real-time posture data acquisition module is used to calculate the real-time posture data of any two of the at least three reflective devices in the same manner as above to obtain at least two real-time posture data when at least three reflective devices are found within the target range after scanning;

[0083] The real-time posture data calculation module is used to use the average value of the at least two real-time posture data as the real-time posture data of the AGV in the world coordinate system.

[0084] In some embodiments, the apparatus may further include:

[0085] An odometer posture change data acquisition module is used to obtain the posture change data of the odometer carried by the AGV from the current position to the next position;

[0086] A second coordinate transformation relationship acquisition module, used to acquire the coordinate transformation relationship between the laser detector and the odometer;

[0087] The laser detector next posture data acquisition module is used to obtain the next posture data of the laser detector in the world coordinate system according to the current posture data of the laser detector in the world coordinate system, the posture change data and the coordinate transformation relationship between the laser detector and the odometer;

[0088] The data fusion module is used to fuse the next posture data with the real-time posture data of the laser detector in the world coordinate system to obtain optimized real-time posture data of the laser detector in the world coordinate system.

[0089] In some embodiments, the reflective device position data acquisition module may include:

[0090] an intensity filtering submodule, used to set an intensity threshold, and perform intensity filtering on the surfaces of the at least two reflective devices within the target range according to the intensity threshold;

[0091] A position filtering submodule, used for setting a position threshold, and performing position filtering on the at least two reflective devices within the target range according to the position threshold;

[0092] A relative posture data determination submodule is used to obtain relative posture data of the reflective device within the target range according to the results of intensity filtering and position filtering;

[0093] The predicted positioning data submodule is used to obtain the predicted positioning data of the at least two reflective devices in the world coordinate system according to the preset AGV posture data and the relative posture data.

[0094] In some embodiments, the at least two reflective devices include a first reflective device and a second reflective device. Accordingly, the first coordinate transformation relationship acquisition module may include:

[0095] an origin determination submodule, configured to use the midpoint of a line connecting the first reflective device and the second reflective device as the origin of a reflective device coordinate system;

[0096] The coordinate axis determination submodule is used to determine the horizontal axis and the vertical axis of the reflective device coordinate system based on the origin of the reflective device coordinate system and the vector connection line between the first reflective device and the second reflective device.

[0097] In some embodiments, the apparatus may further include:

[0098] The world map acquisition module is used to acquire a pre-built world map, wherein the world map includes posture data corresponding to the preset upper line area and positioning data corresponding to each reflective device.

[0099] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0100] Figure 6 is a block diagram of an electronic device for executing a device positioning method provided in an embodiment of the present application. The electronic device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 6 As shown. The electronic device includes a processor, a memory, a model interface, a display screen and an input device connected through a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The model interface of the electronic device is used to communicate with an external terminal through a model connection. When the computer program is executed by the processor, a device positioning method is implemented. The display screen of the electronic device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the housing of the electronic device, or an external keyboard, touchpad or mouse, etc.

[0101] Those skilled in the art will understand that Figure 6 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0102] In an exemplary embodiment, an electronic device is also provided, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the method in the embodiment of the present application.

[0103] In an exemplary embodiment, a computer-readable storage medium is also provided. When instructions in the storage medium are executed by a processor of an electronic device, the electronic device can execute the method in the embodiment of the present application.

[0104] In an exemplary embodiment, a computer program product including instructions is also provided. When the computer program product is run on a computer, the computer is enabled to execute the method in the embodiment of the present application.

[0105] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0106] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0107] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A device positioning method, characterized in that: The method comprises: When the AGV moves to the preset upper line area, the preset AGV posture data is assigned to the AGV, and the preset AGV posture data is the posture data in the world coordinate system corresponding to the preset upper line area; Scan and identify at least two reflective devices within the target range, and in combination with the preset AGV posture data, calculate the predicted positioning data of the at least two reflective devices in the world coordinate system, the predicted positioning data being the posture data of the reflective devices scanned by the AGV in a preset upper line area in a certain posture in the world coordinate system; obtain the preset reflective device positioning data corresponding to the reflective devices within the target scanning range of the preset upper line area, the preset reflective device positioning data being the positioning data of the reflective devices in the preset upper line area under the same posture field of view in a pre-constructed world map; Based on the predicted positioning data and the preset reflective device positioning data, actual positioning data of the at least two reflective devices in a world coordinate system are obtained through a matching algorithm, wherein the actual positioning data of the at least two reflective devices in a world coordinate system are the positioning data of the at least two reflective devices in a world coordinate system obtained by matching; Based on the actual positioning data of the at least two reflective devices, a reflective device coordinate system is constructed to obtain a first coordinate conversion relationship between the reflective device coordinate system and the world coordinate system; according to the distance and angle from the laser detector carried by the AGV to the at least two reflective devices, the coordinates of the laser detector in the reflective device coordinate system are calculated to obtain a second coordinate conversion relationship between the laser detector coordinate system and the reflective device coordinate system; Acquire real-time position and posture data of the laser detector in a world coordinate system according to the first coordinate transformation relationship and the second coordinate transformation relationship; The real-time posture data of the AGV in the world coordinate system is obtained according to the real-time posture data of the laser detector in the world coordinate system and the coordinate conversion relationship between the laser detector and the calibrated position of the AGV.

2. The device positioning method according to claim 1, characterized in that: The method further comprises: When at least three reflective devices are identified within the target range during scanning, real-time position and posture data are calculated for any two of the at least three reflective devices in the same manner as above to obtain at least two real-time position and posture data; The average value of the at least two real-time posture data is used as the real-time posture data of the AGV in the world coordinate system.

3. The device positioning method according to claim 1, characterized in that: Before the step of obtaining the real-time posture data of the AGV in the world coordinate system according to the real-time posture data of the laser detector in the world coordinate system and the coordinate conversion relationship between the laser detector and the calibrated position of the AGV, the method further includes: Obtaining the posture change data of the odometer carried by the AGV from the current position to the next position; Obtaining a coordinate transformation relationship between the laser detector and the odometer; Obtaining next posture data of the laser detector in the world coordinate system according to the current posture data of the laser detector in the world coordinate system, the posture change data, and the coordinate transformation relationship between the laser detector and the odometer; The next posture data and the real-time posture data of the laser detector in the world coordinate system are fused to obtain optimized real-time posture data of the laser detector in the world coordinate system.

4. The device positioning method according to claim 1, characterized in that: The scanning and identifying of at least two reflective devices within the target range, and in combination with the preset AGV posture data, calculating the predicted positioning data of the at least two reflective devices in the world coordinate system includes: Setting an intensity threshold, and performing intensity filtering on the surfaces of the at least two reflective devices within the target range according to the intensity threshold; Setting a position threshold, and performing position filtering on the at least two reflective devices within the target range according to the position threshold; According to the results of intensity filtering and position filtering, the relative position data of the reflective device within the target range is obtained; According to the preset AGV posture data and the relative posture data, the predicted positioning data of the at least two reflective devices in the world coordinate system are obtained.

5. The device positioning method according to claim 1, characterized in that: The at least two reflective devices include a first reflective device and a second reflective device. Accordingly, the reflective device coordinate system is constructed based on the actual positioning data of the at least two reflective devices to obtain a first coordinate conversion relationship between the reflective device coordinate system and the world coordinate system, including: The midpoint of the line connecting the first light-reflecting device and the second light-reflecting device is used as the origin of the light-reflecting device coordinate system; The horizontal axis and the vertical axis of the reflective device coordinate system are determined based on the origin of the reflective device coordinate system and a vector line between the first reflective device and the second reflective device.

6. The device positioning method according to claim 1, characterized in that: Before the step of assigning preset AGV posture data to the AGV when the AGV moves to the preset upper line area, wherein the preset AGV posture data is posture data in a world coordinate system corresponding to the preset upper line area, the method further includes: A pre-constructed world map is obtained, wherein the world map includes posture data corresponding to the preset upper line area and positioning data corresponding to each reflective device.

7. A device positioning device, characterized in that: The device comprises: An AGV initial position assignment module is used to assign preset AGV posture data to the AGV when the AGV moves to the preset upper line area, wherein the preset AGV posture data is posture data in a world coordinate system corresponding to the preset upper line area; A reflective device position data acquisition module is used to scan and identify at least two reflective devices within a target range, and in combination with the preset AGV posture data, calculate the predicted positioning data of the at least two reflective devices in a world coordinate system, wherein the predicted positioning data is the posture data of the reflective devices scanned by the AGV in a preset upper line area in a certain posture in the world coordinate system; obtain the preset reflective device positioning data corresponding to the reflective devices within the target scanning range of the preset upper line area, wherein the preset reflective device positioning data is the positioning data of the reflective devices in the preset upper line area under the same posture field of view in a pre-constructed world map; a reflective device actual position determination module, configured to obtain, based on the predicted positioning data and the preset reflective device positioning data, actual positioning data of the at least two reflective devices in a world coordinate system through a matching algorithm, wherein the actual positioning data of the at least two reflective devices in a world coordinate system are the positioning data of the at least two reflective devices in a world coordinate system obtained by matching; A first coordinate transformation relationship acquisition module is used to construct a reflective device coordinate system based on the actual positioning data of the at least two reflective devices, and obtain a first coordinate transformation relationship between the reflective device coordinate system and the world coordinate system; according to the distance and angle from the laser detector carried by the AGV to the at least two reflective devices, the coordinates of the laser detector in the reflective device coordinate system are calculated to obtain a second coordinate transformation relationship between the laser detector coordinate system and the reflective device coordinate system; A laser detector posture data determination module, used for acquiring real-time posture data of the laser detector in a world coordinate system according to the first coordinate transformation relationship and the second coordinate transformation relationship; The AGV posture data determination module is used to obtain the real-time posture data of the AGV in the world coordinate system according to the real-time posture data of the laser detector in the world coordinate system and the coordinate conversion relationship between the laser detector and the calibrated position of the AGV.

8. The equipment positioning device according to claim 7, characterized in that: The device also includes: An odometer posture change data acquisition module is used to obtain the posture change data of the odometer carried by the AGV from the current position to the next position; A second coordinate transformation relationship acquisition module, used to acquire the coordinate transformation relationship between the laser detector and the odometer; The laser detector next posture data acquisition module is used to obtain the next posture data of the laser detector in the world coordinate system according to the current posture data of the laser detector in the world coordinate system, the posture change data and the coordinate transformation relationship between the laser detector and the odometer; The data fusion module is used to fuse the next posture data with the real-time posture data of the laser detector in the world coordinate system to obtain optimized real-time posture data of the laser detector in the world coordinate system.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the device positioning method according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the device positioning method according to any one of claims 1 to 6.

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