Positioning method, device and movable device based on environmental condition changes

Abstract

An embodiment of the present invention relates to a positioning method based on changes in environmental conditions, including: in a global map matching positioning mode, real-time detection of whether positioning is successful based on an acquired global positioning evaluation score; when positioning is successful, comparing the global positioning evaluation score with a preset environmental change evaluation threshold; when the global positioning evaluation score is less than the preset environmental change evaluation threshold, marking the environmental change position of a movable device; when it is detected that the marking state of the environmental change position of the movable device is valid, switching to a local map matching positioning mode and acquiring local positioning posture information; processing the local positioning posture information to obtain global positioning posture information corresponding to the local positioning posture information at the same moment.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a positioning method, device and movable device based on changes in environmental conditions. Background Art

[0002] When autonomous sweepers operate in indoor environments, localized changes often occur due to the specific nature of the scene. This can reduce the sweeper's positioning accuracy, directly impacting its cleaning capabilities and decision-making and planning abilities, and reducing its efficiency and safety. Therefore, improving the positioning accuracy and robustness of autonomous sweepers in these changing indoor environments is crucial.

[0003] Currently, in the autonomous driving industry, there are two main methods used to solve positioning problems in environmental changes: methods based on map updates and methods based on map reconstruction.

[0004] The method based on local map updates first determines whether the positioning accuracy has decreased or is lost in a fixed area, and whether it meets pre-set thresholds such as time and accuracy. Then, the map update module is entered. Then, the local area is positioned and mapped, and closed-loop detection and matching positioning are performed with the unupdated map. If the matching positioning result in the unupdated map meets the set threshold, it is considered that the unmanned sweeper has left the changed area. Finally, according to the strategy of replacing the unupdated map, the map before the change is updated to the latest map. However, this method has high computing power requirements for the operating platform, low real-time performance, complex algorithm logic, high maintenance costs, and frequent changes in local areas, which will frequently cause irreversible modifications to the map, resulting in a decrease in the stability of the unmanned sweeper map. Therefore, this method is not suitable for scenarios with high-frequency regional changes.

[0005] The remap-based approach first considers the degradation of positioning accuracy and robustness experienced by unmanned road sweepers at a fixed location. Secondly, a global map of the entire operational scenario is rebuilt. Finally, the rebuilt map is overwritten with the previous one. This method is labor-intensive and time-consuming, and the cost increases exponentially with the size of the operational scenario. Therefore, it cannot solve the problem of positioning in large, changing environments. Summary of the Invention

[0006] The purpose of the present invention is to address the defects of the existing technology and provide a positioning method based on changing environmental conditions. This method can achieve high-precision and high-robustness positioning of movable devices under changing environmental conditions, ensuring the efficient and safe operation of movable devices in changing environments.

[0007] To achieve the above objectives, the present invention provides, in a first aspect, a positioning method based on changes in environmental conditions, the positioning method comprising:

[0008] In the global map matching positioning mode, the positioning success is detected in real time based on the obtained global positioning evaluation score;

[0009] When positioning is successful, the global positioning evaluation score is compared with the preset environmental change evaluation threshold;

[0010] When the global positioning evaluation score is less than a preset environmental change evaluation threshold, marking the environmental change position of the movable device;

[0011] When it is detected that the mark state of the environmental change position of the movable device is valid, switching to the local map matching positioning mode and obtaining the local positioning posture information;

[0012] The local positioning pose information is processed to obtain global positioning pose information corresponding to the local positioning pose information at the same moment.

[0013] A second aspect of the present invention provides a positioning device based on changes in environmental conditions, comprising:

[0014] The positioning detection module is used to detect whether the positioning is successful in real time based on the obtained global positioning evaluation score under the global map matching positioning mode;

[0015] A comparison module is used to compare the global positioning evaluation score with a preset environmental change evaluation threshold when positioning is successful;

[0016] An environment change position marking module, configured to mark the environment change position of the movable device when the global positioning evaluation score is less than a preset environment change evaluation threshold;

[0017] A local positioning posture information acquisition module is used to switch to a local map matching positioning mode and acquire local positioning posture information when detecting that the mark state of the environmental change position of the movable device is valid;

[0018] The local positioning posture processing module is used to process the local positioning posture information to obtain the global positioning posture information corresponding to the local positioning posture information at the same time.

[0019] A third aspect of the present invention provides a controller, comprising: a memory, a processor, and a transceiver;

[0020] The processor is configured to be coupled to the memory, read and execute instructions in the memory, so as to implement the positioning method based on changes in environmental conditions according to any one of the first aspects above;

[0021] The transceiver is coupled to the processor, and the processor controls the transceiver to send and receive messages.

[0022] In a fourth aspect of the present invention, a chip system is provided, comprising a processor, wherein the processor is coupled to a memory, and the memory stores program instructions. When the program instructions stored in the memory are executed by the processor, the positioning method based on changes in environmental conditions as described in any one of the first aspects above is implemented.

[0023] In a fifth aspect, the present invention provides a computer system comprising a memory and one or more processors communicatively connected to the memory;

[0024] The memory stores instructions that can be executed by the one or more processors, and the instructions are executed by the one or more processors to enable the one or more processors to implement the positioning method based on changes in environmental conditions as described in any one of the first aspects above.

[0025] According to a sixth aspect of the present invention, a movable device is provided, comprising the controller described in the third aspect.

[0026] The positioning method based on environmental condition changes provided by an embodiment of the present invention switches between a global map matching positioning mode and a local map matching positioning mode. In the global map matching positioning mode, environmental condition changes are detected in real time. When the positioning result meets the environmental change condition, it switches to the local map matching positioning mode, and corrects the local positioning posture information to obtain the global positioning posture information at the same time under the changing environment as the final map matching result, thereby achieving high-precision and high-robustness positioning of the movable device under changing environmental conditions, ensuring the efficient and safe operation of the movable device in the changing environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a flow chart of a positioning method based on environmental condition changes provided in the first embodiment of the present invention;

[0028] Figure 2 Flowchart 2 of the positioning method based on environmental condition changes provided in Example 1 of the present invention

[0029] Figure 3 Flowchart 3 of the positioning method based on environmental condition changes provided in Example 1 of the present invention

[0030] Figure 4 This is a fourth flow chart of the positioning method based on environmental condition changes provided in the first embodiment of the present invention;

[0031] Figure 5 A schematic diagram of a positioning method based on environmental condition changes provided in the first embodiment of the present invention;

[0032] Figure 6This is a module structure diagram of a positioning device based on environmental condition changes provided in the second embodiment of the present invention. DETAILED DESCRIPTION

[0033] To make the objectives, technical solutions, and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings. It is apparent that the embodiments described are only some, not all, of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.

[0034] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments.

[0035] The positioning method based on changes in environmental conditions provided by the embodiment of the present invention can be applied to unmanned sweepers to improve the positioning capability of unmanned sweepers in changing environments, thereby improving the cleaning efficiency, real-time performance and safety of unmanned sweepers, reducing sanitation costs, and accelerating the implementation of unmanned sweepers in the sanitation industry.

[0036] Example 1

[0037] Figure 1 The flowchart of the positioning method based on environmental condition changes provided in the first embodiment of the present invention is as follows. Figure 1 , the technical solution of the present invention is described with specific embodiments.

[0038] The embodiment of the present invention provides a positioning method based on environmental condition changes, which is mainly performed by the following steps:

[0039] Step 110 : In the global map matching positioning mode, whether the positioning is successful is detected in real time based on the obtained global positioning evaluation score.

[0040] Specifically, the method can be implemented by a positioning module of a mobile device (such as an unmanned road sweeper). The following explanation of this application is based on the unmanned road sweeper as an example. The global positioning evaluation score can be understood as the matching score between the real-time positioning information of the mobile device and the preset global map.

[0041] More specifically, the global positioning evaluation score is compared with a preset positioning success score threshold; if the global positioning evaluation score is not less than the preset positioning success score threshold, positioning is determined to be successful, and step 120 is continued. If the global positioning evaluation score is less than the preset positioning success score threshold, positioning is determined to be unsuccessful, and the process ends.

[0042] Before real-time detection of whether the positioning is successful, the method further includes: Figure 2 The steps shown in:

[0043] Step 101: Obtain the previous moment position information and the current moment position information of the movable device.

[0044] Step 102: Determine the change in the running distance and heading angle of the movable device based on the posture information at the previous moment and the posture information at the current moment.

[0045] Step 103: When the running distance is not less than the preset distance threshold and / or the change in heading angle is not less than the preset angle change threshold, record the key frame data of the movable device at the current moment and maintain a preset number of key frame data in the data pool.

[0046] Specifically, the key frame data includes current time data, current posture, current visual sensor data and current lidar point cloud data. By way of example and not limitation, the preset number is specifically 30 to 100. The preset distance threshold can specifically be 0.3 meters to 0.6 meters. The preset angle change threshold can specifically be 3 degrees to 6 degrees. It is understandable that when the running distance is not less than the preset distance threshold and / or the change in heading angle is not less than the preset angle change threshold, it is possible that the operating environment of the mobile device has changed.

[0047] Step 120: Compare the global positioning evaluation score with a preset environmental change evaluation threshold.

[0048] Specifically, this step aims to further determine whether the global positioning result meets the environmental change criteria. The preset environmental change evaluation threshold is greater than the preset positioning success score threshold. This means that successful positioning must be confirmed before determining whether the global positioning result meets the environmental change criteria. If positioning fails, subsequent steps will be risky. The global positioning result is primarily reflected in the global positioning evaluation score, while the environmental change criteria are reflected in the preset environmental change evaluation threshold.

[0049] Step 130: When the global positioning evaluation score is less than a preset environment change evaluation threshold, the environment change position of the movable device is marked.

[0050] Specifically, as described in steps 110 and 120, the global positioning evaluation score is between a preset positioning success score threshold and a preset environmental change evaluation threshold. If the global positioning evaluation score is not less than the preset environmental change evaluation threshold, the positioning result does not meet the environmental change judgment criteria, meaning that the operating environment of the mobile device has not changed. The global map matching positioning method continues until the positioning task is completed.

[0051] Step 140 : When it is detected that the mark state of the environment change position of the movable device is valid, the local map matching positioning mode is switched to, and the local positioning posture information is obtained.

[0052] Specifically, first, local map information for the mobile device is generated based on the keyframe data. This involves concatenating a preset number of keyframes to form a local map. Second, local positioning pose information is obtained based on the local map information.

[0053] As a preferred solution, in order to ensure the security and robustness of the mobile device, this method needs to monitor the various states of the local map information in real time when performing local map matching positioning. Figure 3 As shown in:

[0054] Step 141: collect local positioning status information in real time.

[0055] The local positioning status information may specifically include the local positioning time, the local positioning distance, and the matching effect of the local positioning.

[0056] Step 142: Match the local positioning status information with the preset abnormal status conditions to determine the abnormality level.

[0057] Preset abnormal status conditions include the local positioning time abnormality threshold, the local positioning distance abnormality threshold, and the local positioning match invalidation condition. The higher the abnormality level, the greater the risk. This classification of abnormalities facilitates planning and control of the unmanned sweeper, helping to restore the positioning accuracy and robustness of the unmanned sweeper, thereby ensuring the safety and efficiency of the unmanned sweeper in changing environments.

[0058] In a specific example, the abnormality levels are divided into six levels, and the specific divisions are shown in Table 1 below.

[0059]

[0060] Table 1

[0061] Anomaly detection for local map-matching positioning improves the unmanned sweeper's anomaly handling capabilities, safety, and stability. By utilizing environmental change monitoring and local positioning exit detection strategies, the system accurately positions the unmanned sweeper in locally variable scenarios, enhancing its positioning capabilities. This strategic flexibility in positioning further enhances the efficiency, real-time performance, and safety of cleaning operations in the sanitation industry, reducing sanitation costs. It also improves the adaptability of the unmanned sweeper's positioning capabilities in changing environments, accelerating its deployment in the sanitation industry.

[0062] Step 150: Process the local positioning pose information to obtain the global positioning pose information corresponding to the local positioning pose information at the same moment.

[0063] Specifically, due to the time difference between the global map matching positioning method and the local map matching positioning method, it is necessary to convert the local positioning pose information at the same time into the global positioning pose information, that is, to correct the local positioning pose information.

[0064] More specifically, the local positioning pose information is fused with the inertial navigation data to generate global positioning pose information corresponding to the local positioning pose information at the same moment, and the global positioning pose information is output as the final map matching result.

[0065] Since the mobile device is in a continuous operation process, it is necessary to update the local map information required for local map matching and positioning. Therefore, after step 150, the following steps are also included: Figure 4 Steps in:

[0066] Step 151: Compare the operating distance of the movable device with a preset first distance threshold.

[0067] Step 152: When the running distance of the movable device is not less than a preset first distance threshold, the local map information is updated according to the key frame data.

[0068] In a specific example, the preset first distance threshold is 3 meters to 10 meters. The local map information is updated to maintain the movable device always located within the center range of the local map matching positioning, thereby improving positioning accuracy and robustness.

[0069] It should be noted that switching to the local map matching positioning method is only the primary method, and the global map matching positioning method is also performed in the background. Therefore, as a preferred solution, this method will continuously detect whether the global map matching positioning method is successful, that is, the method in step 110. If the positioning is successful, steps 120 to 150 will be executed. If the positioning is unsuccessful, the local map matching positioning method will be exited and the local map information will be stored.

[0070] The following is based on Figure 5 The specific implementation principle of this method is introduced. Since the specific implementation process of this method has been described, it will not be repeated here.

[0071] The first step is global map matching and establishing a keyframe data pool.

[0072] The second step is to detect environmental changes. If the environment changes, the third step is executed; if the environment does not change, the seventh step is executed.

[0073] The third step is to stitch and update the local map based on the keyframe data pool and perform local map matching.

[0074] The fourth step is to detect abnormal conditions of local map positioning.

[0075] Step 5: Determine whether to exit local map matching. If it is determined to exit local map matching, execute step 6. If it is determined to continue local map matching, execute step 8.

[0076] Step 6: Release the local map.

[0077] Step 7: Determine whether to end the positioning task according to the program.

[0078] Step 8: Update the key frame data pool.

[0079] The dotted box in the figure indicates that the same module performs the function of updating the key frame data in the data pool at different stages.

[0080] The positioning method based on environmental condition changes provided by the embodiment of the present invention switches between a global map matching positioning mode and a local map matching positioning mode. In the global map matching positioning mode, environmental condition changes are detected in real time. When the positioning result meets the environmental change condition, it switches to the local map matching positioning mode and corrects the local positioning posture information to obtain the global positioning posture information at the same time under the changing environment as the final map matching result, thereby achieving high-precision and high-robustness positioning of the movable device under changing environmental conditions, ensuring the efficient and safe operation of the movable device in a changing environment. The principle of this method is simple and easy to implement, the logic is clear, and it has good adaptability to changing indoor scenes, especially indoor scenes with local high-frequency changes. It can meet the requirements of unmanned sweepers for efficient, low-consumption and high-precision positioning in complex and changing indoor and outdoor scenes, ensuring the high positioning accuracy and high robustness of unmanned sweepers in local changing environments.

[0081] Example 2

[0082] Figure 6 This is a module structure diagram of a positioning device based on environmental condition changes provided in the second embodiment of the present invention, which includes:

[0083] Positioning detection module 10, used to detect whether positioning is successful in real time based on the obtained global positioning evaluation score in the global map matching positioning mode;

[0084] A comparison module 20 is configured to compare the global positioning evaluation score with a preset environmental change evaluation threshold when positioning is successful;

[0085] The environment change position marking module 30 is used to mark the environment change position of the movable device when the global positioning evaluation score is less than a preset environment change evaluation threshold;

[0086] The local positioning posture information acquisition module 40 is used to switch to the local map matching positioning mode and obtain the local positioning posture information when the mark state of the environmental change position of the movable device is detected to be valid;

[0087] The local positioning posture processing module 50 is used to process the local positioning posture information to obtain the global positioning posture information corresponding to the local positioning posture information at the same moment.

[0088] A positioning device based on changes in environmental conditions provided in embodiment 2 of the present invention can execute the method steps in the above-mentioned method embodiment, the positioning detection module 10 implements step 110, the environmental change position marking module 20 implements step 120, the environmental change position marking module 30 implements step 130, the local positioning posture information acquisition module 40 implements step 140, and the local positioning posture processing module 50 implements step 150.

[0089] The specific implementation principles and technical effects are similar and will not be repeated here.

[0090] It should be noted that it should be understood that the division of the various modules of the above device is merely a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. Moreover, these modules can all be implemented in the form of software called by a processing element; or they can all be implemented in the form of hardware; or some modules can be implemented in the form of software called by a processing element, and some modules can be implemented in the form of hardware. For example, the determination module can be a separately established processing element, or it can be integrated into a chip of the above device. In addition, it can also be stored in the memory of the above device in the form of program code, and called by a processing element of the above device to perform the functions of the above determination module. The implementation of other modules is similar. In addition, these modules can all or partly be integrated together, or they can be implemented independently. The processing element described here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed by the hardware integrated logic circuit in the processor element or by instructions in the form of software.

[0091] For example, the above modules can be one or more integrated circuits configured to implement the above methods, such as one or more application-specific integrated circuits (ASICs), or one or more microprocessors (DSPs), or one or more field programmable gate arrays (FPGAs). For another example, when a module is implemented in the form of a processing element scheduling program code, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0092] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The above-mentioned computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the above-mentioned computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, Bluetooth, microwave, etc.) means. The above-mentioned computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media. The above-mentioned available medium can be a magnetic medium (such as a floppy disk, hard disk, tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0093] Example 3

[0094] A third aspect of the present invention provides a controller, comprising: a memory, a processor, and a transceiver;

[0095] The processor is configured to be coupled to the memory, read and execute instructions in the memory, so as to implement the positioning method based on environmental condition changes of any one of the above-mentioned embodiments;

[0096] The transceiver is coupled to the processor, and the processor controls the transceiver to send and receive messages.

[0097] Specifically, the controller provided in this embodiment can be implemented as an autonomous driving domain controller of a mobile device, which is communicated with various sensors carried on the mobile device, obtains environmental perception data and vehicle body speed information through these sensors, extracts obstacle information based on the obtained environmental perception data, generates position information of the mobile device based on the vehicle body speed information, and performs path planning based on the position information and obstacle information.

[0098] Example 4

[0099] In a fourth aspect of the present invention, a chip system is provided, comprising a processor, the processor being coupled to a memory, the memory storing program instructions, and implementing any one of the positioning methods based on changes in environmental conditions according to the first embodiment above when the program instructions stored in the memory are executed by the processor.

[0100] Example 5

[0101] In a fifth aspect, the present invention provides a computer system comprising a memory and one or more processors communicatively connected to the memory;

[0102] The memory stores instructions that can be executed by one or more processors. The instructions are executed by one or more processors to enable the one or more processors to implement the positioning method based on changes in environmental conditions as described in any one of the above-mentioned embodiments.

[0103] Example 6

[0104] In a sixth aspect, the present invention provides a mobile device comprising the controller provided in the third embodiment.

[0105] The mobile equipment includes, but is not limited to, vehicles with six autonomous driving technology levels, L0-L5, as defined by the Society of Automotive Engineers International (SAE International) or the Chinese national standard "Automotive Driving Automation Levels." For example, the mobile equipment may include, but is not limited to, vehicles or robotic devices with the following functions:

[0106] (1) Passenger-carrying function, such as family cars and buses;

[0107] (2) Cargo carrying function, such as ordinary trucks, box trucks, trailer trucks, closed trucks, tank trucks, flatbed trucks, container trucks, dump trucks, special structure trucks, etc.;

[0108] (3) Tool functions, such as logistics delivery vehicles, automated guided vehicles (AGVs), patrol cars, cranes, hoists, excavators, bulldozers, forklifts, rollers, loaders, off-road engineering vehicles, armored engineering vehicles, sewage treatment vehicles, sanitation vehicles, vacuum trucks, floor scrubbers, sprinkler trucks, sweeping robots, food delivery robots, shopping guide robots, lawn mowers, golf carts, etc.;

[0109] (4) Entertainment functions, such as entertainment vehicles, amusement park self-driving devices, balance vehicles, etc.;

[0110] (5) Special rescue functions, such as fire trucks, ambulances, power repair trucks, engineering rescue trucks, etc.

[0111] This application does not strictly limit the types of mobile devices, and no exhaustive list is given here.

[0112] Professionals should also be further aware that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0113] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0114] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A positioning method based on changes in environmental conditions, characterized in that: The positioning method includes: In the global map matching positioning mode, the positioning success is detected in real time based on the obtained global positioning evaluation score; specifically, the following are included: Comparing the global positioning evaluation score with a preset positioning success score threshold; When the global positioning evaluation score is not less than the preset positioning success score threshold, determining that the positioning is successful; When positioning is successful, the global positioning evaluation score is compared with the preset environmental change evaluation threshold; The preset positioning success score threshold is less than the preset environmental change evaluation threshold; When the global positioning evaluation score is less than a preset environmental change evaluation threshold, marking the environmental change position of the movable device; When it is detected that the mark state of the environmental change position of the movable device is valid, switching to the local map matching positioning mode and obtaining the local positioning posture information; The local positioning pose information is processed to obtain global positioning pose information corresponding to the local positioning pose information at the same moment.

2. The positioning method based on environmental condition changes according to claim 1, characterized in that: Before the real-time detection of whether the positioning is successful, the method further includes: Obtain the previous and current position information of the mobile device; Determining a change in a running distance and a heading angle of the movable device based on the posture information at the previous moment and the posture information at the current moment; When the running distance is not less than a preset distance threshold and / or the change in heading angle is not less than a preset angle change threshold, the key frame data of the movable device at the current moment is recorded, and a preset number of key frame data are maintained in the data pool.

3. The positioning method based on environmental condition changes according to claim 2, characterized in that: The preset number is specifically 30 to 100.

4. The positioning method based on environmental condition changes according to claim 2, characterized in that: The key frame data includes current time data, current posture, current visual sensor data and current lidar point cloud data.

5. The positioning method based on environmental condition changes according to claim 2, characterized in that: When the mark state of the environment change position of the movable device is detected to be valid, switching to the local map matching positioning mode and obtaining the local positioning posture information specifically includes: generating local map information of the mobile device according to the key frame data; According to the local map information, local positioning posture information is obtained.

6. The positioning method based on environmental condition changes according to claim 5, characterized in that: After obtaining the global positioning pose information corresponding to the local positioning pose information at the same time, the method further includes: comparing the operating distance of the movable device with a preset first distance threshold; When the running distance of the movable device is not less than the preset first distance threshold, the local map information is updated according to the key frame data.

7. The positioning method based on environmental condition changes according to claim 2, characterized in that: The preset distance threshold is specifically 0.3 meters to 0.6 meters, and the preset angle change threshold is specifically 3 degrees to 6 degrees.

8. The positioning method based on environmental condition changes according to claim 1, characterized in that: The processing of the local positioning pose information to obtain the global positioning pose information corresponding to the local positioning pose information at the same moment specifically includes: The local positioning pose information is fused with the inertial navigation data to generate global positioning pose information corresponding to the local positioning pose information at the same moment.

9. The positioning method based on environmental condition changes according to claim 1, characterized in that: After switching to the local map matching positioning mode, the method further includes: Real-time statistics of local positioning status information; The local positioning state information is matched with a preset abnormal state condition to determine the abnormality level.

10. A positioning device based on changes in environmental conditions, characterized in that: include: The positioning detection module is used to detect whether positioning is successful in real time based on the obtained global positioning evaluation score under the global map matching positioning method; specifically, it includes: Comparing the global positioning evaluation score with a preset positioning success score threshold; When the global positioning evaluation score is not less than the preset positioning success score threshold, determining that the positioning is successful; a comparison module, configured to compare the global positioning evaluation score with a preset environmental change evaluation threshold when positioning is successful; the preset positioning success score threshold is less than the preset environmental change evaluation threshold; An environment change position marking module, configured to mark the environment change position of the movable device when the global positioning evaluation score is less than a preset environment change evaluation threshold; A local positioning posture information acquisition module is used to switch to a local map matching positioning mode and acquire local positioning posture information when detecting that the mark state of the environmental change position of the movable device is valid; The local positioning posture processing module is used to process the local positioning posture information to obtain the global positioning posture information corresponding to the local positioning posture information at the same time.

11. A controller, characterized in that: include: memory, processors, and transceivers; The processor is configured to be coupled to the memory, read and execute instructions in the memory, so as to implement the positioning method based on changes in environmental conditions according to any one of claims 1 to 9; The transceiver is coupled to the processor, and the processor controls the transceiver to send and receive messages.

12. A chip system, characterized in that: The system comprises a processor coupled to a memory, wherein the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, the positioning method based on environmental condition changes according to any one of claims 1 to 9 is implemented.

13. A computer system, characterized in that: comprising a memory, and one or more processors communicatively connected to the memory; The memory stores instructions that can be executed by the one or more processors, and the instructions are executed by the one or more processors to enable the one or more processors to implement the positioning method based on changes in environmental conditions as described in any one of claims 1-9.

14. A movable device, characterized in that: The controller comprises the controller according to claim 11 above.

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