A lunar robotic positioning method

Abstract

This disclosure relates to a lunar robot positioning method, apparatus, and system, belonging to the field of lunar robot navigation and control technology. The method includes: when the lunar robot is located in a target feasible area, acquiring target positioning information of the base in a laser positioning coordinate system. The laser positioning coordinate system is established using N laser positioning base stations within the target feasible area. Based on the rotation angles of each hinge in the robotic arm connection mechanism and the target pose transformation matrix, determining the target pose transformation matrix from the base to the actuator, and using the target pose transformation matrix to perform pose calculation on the target positioning information to obtain the output positioning information of the actuator in the laser positioning coordinate system. Thus, by determining the pose transformation matrix, the position of the actuator can be calculated from the acquired base position, simplifying the operation steps for determining the actuator position and, to some extent, solving the problem of low positioning accuracy when the lunar robot is operating in the lunar environment.

Description

Technical Field

[0001] This disclosure relates to the field of lunar robot navigation and control technology, and more specifically, to a lunar robot positioning method, apparatus, and system. Background Technology

[0002] The lunar environment is an unstructured environment with loose soil and complex surface morphology. Lunar robots, as an important tool for navigating this complex environment, must possess environmental perception and recognition, autonomous navigation and positioning, and autonomous intelligent path planning capabilities. The primary function of lunar robots is to assist or collaborate with astronauts in lunar surface tasks such as exploration, sampling and analysis, material handling, scientific experiments, and maintenance, utilizing onboard scientific instruments and end effectors. The construction and assembly of lunar infrastructure using lunar robots includes sub-tasks such as raw material collection, brick preparation, 3D printing, habitat construction, and solar array assembly. High-precision assisted positioning enhances the precision of the lunar robot's actuators, providing technical support for the precise and agile control of multi-functional tasks. This is the foundation and guarantee for lunar robots to successfully complete given tasks in unfamiliar and complex environments.

[0003] Existing lunar robot-assisted localization methods are mainly divided into two types: active and passive. Active localization involves acquiring data through sensors carried by the robot itself, filtering and processing the sensor data to determine the robot's position. Typical methods include inertial element-based localization technology and vision-based simultaneous localization and mapping (Visual-SLAM) technology. Passive localization involves receiving signals reflected from the lunar robot using devices other than the lunar robot itself, and calculating the robot's position information. Commonly used methods include lander-based stereo vision localization technology and lunar geostationary satellite localization technology. All of these lunar robot-assisted localization methods have certain limitations.

[0004] (1) Positioning technology based on inertial elements refers to the use of an inertial measurement unit (IMU) composed of a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer to calculate the robot's position based on the changes in gravity and velocity during the robot's movement. This method has the advantage of being unaffected by the external environment, but the measurement data will drift over time and is prone to accumulating errors.

[0005] (2) Visual-SLAM technology uses monocular, stereo, or RGB-D cameras to perceive the surrounding scene and estimates the six degrees of freedom (three positions and three poses) of the lunar robot body based solely on visual input environmental information. Since the lunar environment has a simple background, relatively simplified texture features, and insignificant grayscale variations, and Visual-SLAM technology primarily determines the lunar robot's position through image feature matching, this method struggles to find sufficient feature points in the lunar environment, exhibits poor robustness, can only establish local maps and obtain local position information, has a short effective range, and cannot provide the absolute position of the lunar robot.

[0006] (3) Lander-based stereo vision localization technology refers to a method of locating a lunar robot using stereo vision measurement technology and image segmentation algorithms, with the lander as the base station. This method directly matches feature points in the image, but the matching probability varies depending on the image, and the probability of mismatch is relatively high. Furthermore, as the distance from the lunar lander increases, feature point recognition becomes more difficult, and the robot's position estimation becomes inaccurate.

[0007] (4) Lunar relay satellite positioning technology refers to the use of relay satellites in near-lunar orbit to achieve long-term coverage, observation, and communication of the lunar surface, thereby enabling the positioning of lunar robots. The principle of lunar relay satellite positioning technology is similar to that of GPS positioning, but the moon is within the Earth's gravitational pull, making orbit deployment and maintenance more difficult and costly.

[0008] It should be noted that the information in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0009] To overcome the problems existing in the related technologies, this disclosure provides a lunar robot positioning method, apparatus and system to at least solve the technical problems of low positioning accuracy and poor robustness of lunar robots when conducting operation experiments in the lunar environment.

[0010] According to one aspect of this disclosure, a method for localizing a lunar robot is provided, the method comprising:

[0011] When the lunar robot is located in the target feasible area, the target positioning information of the lunar robot's base in the laser positioning coordinate system is collected; the lunar robot includes the base, the connecting mechanism and the execution mechanism, and the base is hinged to the execution mechanism through the connecting mechanism; the laser positioning coordinate system is established by emitting lasers from N laser positioning base stations in the target feasible area, where N is a positive integer;

[0012] Based on the rotation angle of each hinge in the connecting mechanism and the calibrated pose transformation matrix, the target pose transformation matrix from the base to the actuator is determined;

[0013] The target pose transformation matrix is ​​used to calculate the pose of the target positioning information to obtain the output positioning information of the actuator in the laser positioning coordinate system.

[0014] Optionally, acquiring the target positioning information of the base in the laser positioning coordinate system includes:

[0015] The lasers emitted by the N laser positioning base stations are captured by a preset sensor installed on the base, and the laser capture information corresponding to the base is obtained.

[0016] Based on the location of the N laser positioning base stations in the target feasible area and the laser capture information corresponding to the base, the target positioning information of the base in the laser positioning coordinate system is determined.

[0017] Optionally, the calibration pose transformation matrix is ​​determined based on the initial pose transformation matrix, and the method further includes:

[0018] Acquire the initial positioning information of the base in the laser positioning coordinate system;

[0019] The initial pose transformation matrix is ​​used to perform pose calculation on the initial positioning information to obtain the transformed positioning information of the actuator in the laser positioning coordinate system;

[0020] The initial pose transformation matrix is ​​adjusted by comparing the standard pose information of the actuator with the transformed pose information; the standard pose information is determined by the actuator capturing laser light at the initial position.

[0021] The initial pose transformation matrix, adjusted to coincide with the standard pose information, is used as the calibration pose transformation matrix.

[0022] Optionally, adjusting the initial pose transformation matrix by comparing the standard pose information of the actuator with the transformed pose information includes:

[0023] The parameters in the initial pose transformation matrix are adjusted based on the difference between the standard pose information and the transformed pose information.

[0024] Optionally, the initial pose transformation matrix is ​​determined based on the transformation relationship between the actuator coordinate system and the robot base coordinate system, and between the robot base coordinate system and the laser positioning coordinate system; the actuator coordinate system is a coordinate system with the connection point of the connecting mechanism as the origin; the robot base coordinate system is a coordinate system with the center of the base as the origin.

[0025] Optionally, the step of using the target pose transformation matrix to perform pose calculation on the target positioning information to obtain the output positioning information of the actuator in the laser positioning coordinate system includes:

[0026] The target positioning information is transformed from the actuator coordinate system to the robot base coordinate system using the target pose transformation matrix to obtain the corresponding transformed positioning information;

[0027] The pose of the transformed positioning information is calculated according to the laser positioning coordinate system to determine the output positioning information of the actuator in the laser positioning coordinate system.

[0028] Optionally, the transformation relationship between the actuator coordinate system and the robot base coordinate system is determined based on the connection position between the base and the actuator.

[0029] Optionally, the transformation relationship between the robot base coordinate system and the laser positioning coordinate system is determined based on the position of the lunar robot within the target feasible area.

[0030] Optionally, the step of performing pose calculation on the transformed positioning information according to the laser positioning coordinate system to determine the output positioning information of the actuator in the laser positioning coordinate system includes:

[0031] According to the transformation relationship between the robot base coordinate system and the laser positioning coordinate system, the transformed positioning information is calculated into the output positioning information of the actuator in the laser positioning coordinate system.

[0032] According to one aspect of this disclosure, a lunar robot positioning device is provided, the device comprising: a first acquisition module, configured to acquire target positioning information of the lunar robot's base in a laser positioning coordinate system when the lunar robot is located in a target feasible area; the lunar robot includes the base, a connecting mechanism, and an execution mechanism, the base being hingedly connected to the execution mechanism via the connecting mechanism; the laser positioning coordinate system is established by emitting lasers from N laser positioning base stations in the target feasible area, where N is a positive integer;

[0033] The first determining module is used to determine the target pose transformation matrix from the base to the actuator based on the rotation angle of each hinge in the connecting mechanism and the target pose transformation matrix.

[0034] The first acquisition module is used to perform pose calculation on the target positioning information using the target pose transformation matrix to obtain the output positioning information of the actuator in the laser positioning coordinate system.

[0035] Optionally, the first acquisition module is further configured to:

[0036] The lasers emitted by the N laser positioning base stations are captured by a preset sensor installed on the base, and the laser capture information corresponding to the base is obtained.

[0037] Based on the location of the N laser positioning base stations in the target feasible area and the laser capture information corresponding to the base, the target positioning information of the base in the laser positioning coordinate system is determined.

[0038] Optionally, the calibration pose transformation matrix is ​​determined based on the initial pose transformation matrix, and the device further includes:

[0039] The second acquisition module is used to acquire the initial positioning information of the base in the laser positioning coordinate system;

[0040] The second obtaining module is used to perform pose calculation on the initial positioning information using the initial pose transformation matrix to obtain the transformed positioning information of the actuator in the laser positioning coordinate system;

[0041] An adjustment module is used to adjust the initial pose transformation matrix by comparing the standard pose information of the actuator with the transformed pose information; the standard pose information is determined by the actuator capturing laser light at the initial position.

[0042] The second determining module is used to take the initial pose transformation matrix adjusted to coincide with the standard pose information as the calibration pose transformation matrix.

[0043] Optionally, the adjustment module is further configured to:

[0044] The parameters in the initial pose transformation matrix are adjusted based on the difference between the standard pose information and the transformed pose information.

[0045] Optionally, the initial pose transformation matrix is ​​determined based on the transformation relationship between the actuator coordinate system and the robot base coordinate system, and between the robot base coordinate system and the laser positioning coordinate system; the actuator coordinate system is a coordinate system with the connection point of the connecting mechanism as the origin; the robot base coordinate system is a coordinate system with the center of the base as the origin.

[0046] Optionally, the first obtaining module is further configured to:

[0047] The target positioning information is transformed from the actuator coordinate system to the robot base coordinate system using the target pose transformation matrix to obtain the corresponding transformed positioning information;

[0048] The pose of the transformed positioning information is calculated according to the laser positioning coordinate system to determine the output positioning information of the actuator in the laser positioning coordinate system.

[0049] Optionally, the transformation relationship between the actuator coordinate system and the robot base coordinate system is determined based on the connection position between the base and the actuator.

[0050] Optionally, the transformation relationship between the robot base coordinate system and the laser positioning coordinate system is determined based on the position of the lunar robot within the target feasible area.

[0051] Optionally, the first obtaining module is further configured to:

[0052] According to the transformation relationship between the robot base coordinate system and the laser positioning coordinate system, the transformed positioning information is calculated into the output positioning information of the actuator in the laser positioning coordinate system.

[0053] According to one aspect of this disclosure, a lunar robot positioning system is provided, the system comprising: a lunar robot and a laser positioning base station;

[0054] The laser positioning base station is used to emit lasers in the feasible area of ​​the target;

[0055] The lunar robot is used to acquire target positioning information of its base in a laser positioning coordinate system when the lunar robot is located in the target feasible area. The lunar robot includes the base, a connecting mechanism, and an execution mechanism. The base is hinged to the execution mechanism through the connecting mechanism. The laser positioning coordinate system is established by emitting lasers from N laser positioning base stations in the target feasible area, where N is a positive integer. The target pose transformation matrix from the base to the execution mechanism is determined based on the rotation angle of each hinge in the connecting mechanism and the target pose transformation matrix. The target pose transformation matrix is ​​used to perform pose calculation on the target positioning information to obtain the output positioning information of the execution mechanism in the laser positioning coordinate system.

[0056] According to one aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the lunar robot localization method described in any of the preceding claims.

[0057] In summary, the lunar robot positioning method provided by this invention can acquire target positioning information of the base in a laser positioning coordinate system when the lunar robot is located in a feasible target area. The laser positioning coordinate system is established by emitting lasers from N laser positioning base stations in the feasible target area, where N is a positive integer. Based on the rotation angles of each hinge in the connecting mechanism and the target pose transformation matrix, the target pose transformation matrix from the base to the actuator is determined. The target pose transformation matrix is ​​then used to calculate the pose of the target positioning information, obtaining the output positioning information of the actuator in the laser positioning coordinate system. Thus, on the one hand, due to the special nature of the lunar environment, establishing a laser positioning coordinate system can improve the accuracy of identifying the lunar robot's location. On the other hand, since the actuator is small and usually in motion, it is difficult to capture its location. This disclosure, by determining the pose transformation matrix, only requires acquiring the location of the base to calculate the location of the actuator, simplifying the operation steps for determining the actuator's location and improving the accuracy of determining the actuator's location. Therefore, it can, to some extent, solve the problems of low positioning accuracy and poor robustness of lunar robots during operational experiments in the lunar environment.

[0058] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0059] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0060] Figure 1 This is a schematic diagram of a system architecture provided in an embodiment of this disclosure.

[0061] Figure 2 This is a schematic diagram of the structure of a lunar robot provided in an embodiment of this disclosure.

[0062] Figure 3 This is a flowchart of the steps of a lunar robot localization method provided in an embodiment of this disclosure.

[0063] Figure 4 This is a schematic diagram of a laser positioning coordinate system provided in an embodiment of this disclosure.

[0064] Figure 5 This is a schematic diagram of a lunar robot positioned in a laser positioning coordinate system according to an embodiment of this disclosure.

[0065] Figure 6 This is a flowchart illustrating the steps for collecting target location information according to an embodiment of this disclosure.

[0066] Figure 7 This is a flowchart illustrating the steps for determining a calibration pose transformation matrix according to an embodiment of the present disclosure.

[0067] Figure 8 This is a schematic diagram of a robot base coordinate system provided in an embodiment of this disclosure.

[0068] Figure 9 This is a schematic diagram of an actuator coordinate system provided in an embodiment of this disclosure.

[0069] Figure 10 This is a flowchart of determining a calibration pose transformation matrix provided in an embodiment of this disclosure.

[0070] Figure 11 This is a block diagram of a lunar robot positioning system provided in an embodiment of this disclosure. Detailed Implementation

[0071] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this disclosure more comprehensive and complete, and to fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a full understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced with one or more of the specific details omitted, or other methods, components, apparatus, steps, etc., can be employed. In other instances, well-known technical solutions are not shown or described in detail to avoid obscuring various aspects of this disclosure.

[0072] Furthermore, the accompanying drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0073] In this embodiment of the disclosure, reference is made to Figure 1The system architecture shown may include: a lunar robot 101, a laser positioning base station 102, and a server 103. Data transmission can occur between the lunar robot 101 and the laser positioning base station 102, between the lunar robot 101 and the server 103, and between the laser positioning base station 102 and the server 103 via communication signals. When the lunar robot 101 and the laser positioning base station 102 are located on the lunar surface, the communication signal can be a satellite transmission signal, such as a satellite analog signal, a satellite digital signal, etc. The server 103 can be located on a satellite orbiting the moon, or on other satellites. The lunar robot positioning method described above can be executed by server 103 or by lunar robot 101. Specifically, when lunar robot 101 executes the lunar robot positioning method, laser positioning base station 102 can directly transmit the emitted laser information to lunar robot 101 via satellite transmission signal, so that lunar robot 101 can perform the processing steps of the lunar robot positioning method described above on the laser information. When server 103 executes the lunar robot positioning method, laser positioning base station 102 can transmit the emitted laser information to server 103 via satellite transmission signal, and lunar robot 101 can transmit the collected laser information to server 103 via satellite transmission signal, so that server 103 can perform the processing steps of the lunar robot positioning method described above based on the emitted and collected laser information. The following will describe the lunar robot positioning method executed by lunar robot 101 in detail.

[0074] Figure 2 This is a schematic diagram of the structure of a lunar robot provided in an embodiment of this disclosure, as shown below. Figure 2 As shown, the lunar robot includes a base 01, a connecting mechanism 02, and an execution mechanism 03. The base 01 is hinged to one end of the connecting mechanism 02, and the execution mechanism 03 is hinged to the other end of the connecting mechanism 02. The connecting mechanism 02 includes multiple links that are hinged to each other.

[0075] Figure 3 This is a flowchart illustrating the steps of a lunar robot localization method provided in this embodiment of the disclosure, as follows: Figure 3 As shown, the method may include:

[0076] Step S101: When the lunar robot is located in the target feasible area, collect the target positioning information of the lunar robot's base in the laser positioning coordinate system; the lunar robot includes the base, the connecting mechanism and the execution mechanism, and the base is hinged to the execution mechanism through the connecting mechanism; the laser positioning coordinate system is established by emitting lasers from N laser positioning base stations in the target feasible area, where N is a positive integer.

[0077] In this embodiment, the target feasible region can be a feasible area on the lunar surface suitable for the construction of lunar facilities. This target feasible region can be a flat area. Specifically, based on lunar exploration information from devices such as the visual camera and lidar on the lunar rover or from the lunar orbiter, a feasible region suitable for the construction of lunar facilities is selected. A lunar lander then lands within or near this feasible region, and this feasible region is designated as the target feasible region. When the lunar robot is located within the target feasible region, the target positioning information of the base in the laser positioning coordinate system is collected. This can be achieved by using a photosensitive sensor mounted on the lunar robot's base to collect laser data, and determining the target positioning information of the base in the laser positioning coordinate system based on the time and location of the collected laser data.

[0078] In this embodiment, the laser positioning coordinate system can be established by emitting lasers from N laser positioning base stations in a feasible target area, where N is a positive integer. Each laser positioning base station can be a small patrol vehicle and may include a retractable mast with a laser emitter mounted at its end for emitting lasers. Acquiring the target positioning information of the base in the laser positioning coordinate system can be achieved by using a laser catcher installed on the base within the laser positioning coordinate system where the lasers are emitted from the laser positioning base stations. Based on the location of the acquired laser and the time required for acquisition, the target positioning information of the base in the laser positioning coordinate system can be determined.

[0079] Example, Figure 4 This is a schematic diagram of a laser positioning coordinate system provided in an embodiment of this disclosure, as shown below. Figure 4 As shown, eight laser positioning base stations 11 are set at the boundary of the target feasible area 14. Each laser positioning base station 11 includes a retractable mast 13 and a laser emitter 12, with the laser emitter 12 located at the end of the retractable mast 13. Specifically, the process of establishing a laser positioning coordinate system can be as follows: a single laser positioning base station can be composed of a single small inspection vehicle. Using a vertical height gauge on the laser positioning base station, the retractable mast on each small inspection vehicle is extended to the same height. A laser emitter is then mounted at the end of the mast to emit laser light, establishing a laser positioning coordinate system with the center of the target feasible area as the origin.

[0080] Example, Figure 5 This is a schematic diagram of a lunar robot positioned in a laser positioning coordinate system according to an embodiment of this disclosure, as shown below. Figure 5As shown, the lunar robot 21 is in the target feasible area 14. The target feasible area 14 emits a laser through the laser emitter 12 of the laser positioning base station 11. The lunar robot 21 captures the laser by a photosensitive sensor mounted on its base. The position of the lunar robot 21 relative to the laser positioning base station 11 is calculated based on the time when the captured laser arrives at the sensor, and the target positioning information of the base of the lunar robot 21 in the laser positioning coordinate system is obtained.

[0081] Step S102: Determine the target pose transformation matrix from the base to the actuator based on the rotation angle of each hinge in the connecting mechanism and the target pose transformation matrix.

[0082] In this embodiment, since the connecting mechanism can be composed of multiple connecting links and hinges, each link rotates relative to the hinge connection point, and the rotation angle of each link can be different. Therefore, the rotation angle generated at each hinge can be determined based on the sensors installed on each hinge of the lunar robot in the connecting mechanism. The calibration pose transformation matrix can be a matrix used for coordinate system transformation. The target pose transformation matrix from the base to the actuator is determined based on the rotation angles of each hinge in the connecting mechanism and the calibration pose transformation matrix. This can be achieved by inputting the rotation angles of each hinge in the connecting mechanism into the calibration pose transformation matrix to obtain the target pose transformation matrix from the base to the actuator under the current action of the lunar robot.

[0083] Step S103: Use the target pose transformation matrix to perform pose calculation on the target positioning information to obtain the output positioning information of the actuator in the laser positioning coordinate system.

[0084] In this embodiment of the disclosure, since the target positioning information is the position information of the base in the laser positioning coordinate system, and the distance between the base and the connecting mechanism and the connecting mechanism and the execution mechanism on the lunar robot is fixed and only the angle changes, the target positioning information can be pose-calculated by the target pose transformation matrix, and the calculated position information can be used as the output positioning information of the execution mechanism in the laser positioning coordinate system.

[0085] In summary, the lunar robot positioning method provided by this invention can acquire target positioning information of the base in a laser positioning coordinate system when the lunar robot is located in a feasible target area. The laser positioning coordinate system is established by emitting lasers from N laser positioning base stations in the feasible target area, where N is a positive integer. Based on the rotation angles of each hinge in the connecting mechanism and the target pose transformation matrix, the target pose transformation matrix from the base to the actuator is determined. The target pose transformation matrix is ​​then used to calculate the pose of the target positioning information, obtaining the output positioning information of the actuator in the laser positioning coordinate system. Thus, on the one hand, due to the special nature of the lunar environment, establishing a laser positioning coordinate system can improve the accuracy of identifying the lunar robot's location. On the other hand, since the actuator is small and usually in motion, it is difficult to capture its location. This disclosure, by determining the pose transformation matrix, only requires acquiring the location of the base to calculate the location of the actuator, simplifying the operation steps for determining the actuator's location and improving the accuracy of determining the actuator's location. Therefore, it can, to some extent, solve the problems of low positioning accuracy and poor robustness of lunar robots during operational experiments in the lunar environment.

[0086] Optionally, in this embodiment of the present disclosure, the operation of collecting the target positioning information of the base in the laser positioning coordinate system is as follows: Figure 6 As shown, it can specifically include:

[0087] Step S1011: Capture the lasers emitted by the N laser positioning base stations using the preset sensors set on the base, and obtain the laser capture information corresponding to the base.

[0088] In this embodiment, the preset sensor can be a photosensitive sensor or other laser position tracker. One or more preset sensors can be installed on the base of the lunar robot. Specifically, the preset sensor can be located at the four corners of the base, or at other locations; this disclosure does not limit this. When the lunar robot is positioned in a laser positioning coordinate system, the preset sensor on the lunar robot base can capture lasers emitted by N laser positioning base stations. The location of the laser positioning base station corresponding to the captured laser, the time required to capture the laser, and other information are used as the laser capture information corresponding to the base.

[0089] Step S1012: Based on the setting positions of the N laser positioning base stations in the target feasible area and the laser capture information corresponding to the base, determine the target positioning information of the base in the laser positioning coordinate system.

[0090] In this embodiment of the disclosure, the positioning information of the lunar robot base relative to the laser positioning base station can be determined based on the laser emitted by each laser positioning base station in the target feasible area and the time when the laser emitted by the laser positioning base station is captured. By combining the positioning information obtained from N laser positioning base stations, the target positioning information of the base station in the laser positioning coordinate system can be determined.

[0091] Optionally, in this embodiment of the present disclosure, the calibration pose transformation matrix is ​​determined based on the initial pose transformation matrix, such as... Figure 7 As shown, the lunar robot localization method may further include:

[0092] Step S201: Collect the initial positioning information of the base in the laser positioning coordinate system.

[0093] In this embodiment, when the lunar robot is in its initial state, the positioning information of the base in the laser positioning coordinate system can be collected, and this positioning information can be used as the initial positioning information. This initial state can be the position of the lunar robot's linkage mechanism set based on practical experience. When the lunar robot is in its initial state, the preset sensors on the lunar robot's actuator can collect the position information in the laser positioning coordinate system. However, when the lunar robot is not in its initial state, i.e., when the lunar robot's actuator is in an active state, the preset sensors on the actuator have difficulty collecting laser light, making it impossible to determine the actuator's position information in the laser positioning coordinate system. Therefore, when the lunar robot is in its initial state, the initial positioning information of the base in the laser positioning coordinate system is collected to determine the target pose transformation matrix, so that when the lunar robot is not in its initial state, the position information of the actuator can be directly determined based on the target pose transformation matrix.

[0094] Step S202: Use the initial pose transformation matrix to perform pose calculation on the initial positioning information to obtain the transformed positioning information of the actuator in the laser positioning coordinate system.

[0095] In this embodiment of the disclosure, the initial pose transformation matrix may include a position transformation matrix and an attitude matrix, utilizing the pose transformation matrix between the laser positioning coordinate system, the robot base coordinate system, and the actuator coordinate system. and By using the coordinate transformation rule, the initial pose transformation matrix is ​​used to calculate the pose of the initial positioning information, and the positioning information of the actuator in the obtained laser positioning coordinate system is used as the transformed positioning information.

[0096] Step S203: Adjust the initial pose transformation matrix by comparing the standard pose information of the actuator with the transformed pose information; the standard pose information is determined by the actuator capturing laser light at the initial position.

[0097] In this embodiment of the disclosure, since the standard pose information can be the position information determined by the laser captured by the preset sensor on the actuator when the actuator is in the initial position, the position information represented by the standard pose information is more in line with the actual situation. However, when the actuator is in an active state, it is often difficult to obtain the corresponding standard pose information. Therefore, the standard pose information can be used to calibrate the transformed pose information according to the actuator being in the initial position. That is, the initial pose transformation matrix can be adjusted by comparing the standard pose information and the transformed pose information of the actuator.

[0098] Step S204: The initial pose transformation matrix adjusted to coincide with the standard pose information is used as the calibration pose transformation matrix.

[0099] In this embodiment of the disclosure, the parameters in the initial pose transformation matrix can be adjusted so that the transformed pose information obtained using the initial pose transformation matrix coincides with the standard pose information, and then the initial pose transformation matrix can be used as the standard pose transformation matrix.

[0100] Optionally, in this embodiment of the present disclosure, the initial pose transformation matrix is ​​determined based on the transformation relationship between the actuator coordinate system and the robot base coordinate system, and between the robot base coordinate system and the laser positioning coordinate system; the actuator coordinate system is a coordinate system with the connection point of the connecting mechanism as the origin; the robot base coordinate system is a coordinate system with the center of the base as the origin.

[0101] In this embodiment of the disclosure, the laser positioning coordinate system can be such that the origin O is located at the center of the top plane of the cubic positioning space formed by the target feasible area and the laser positioning base station, such as... Figure 4 As shown, the OX axis and OY axis intersect at the origin O in the top plane at a 90° angle. The OZ axis is perpendicular to the XOY plane and points vertically upward. The directions of the OX axis and OY axis in the top plane can be set according to the actual task requirements.

[0102] The robot base coordinate system can be based on the robot base, simplifying the robot base into a cube model, for example. Figure 8 This is a schematic diagram of a robot base coordinate system provided in an embodiment of this disclosure, as shown below. Figure 8 As shown, the origin of the coordinate system, Ob, is located at the geometric center of the cube. The ObZb axis is perpendicular to the robot base and points upwards, while the ObXb axis points in the robot's forward direction.

[0103] The actuator coordinate system can be established according to the DH rule, for example. Figure 9 This is a schematic diagram of an actuator coordinate system provided in an embodiment of this disclosure, as shown below. Figure 9 As shown, a coordinate system is established on each link in the connecting mechanism. Homogeneous coordinate transformation is used to transform the coordinates on two links. In a multi-link system, multiple homogeneous coordinate transformations are used to establish the relationship between the initial and final coordinate systems. Using the robot base coordinate system {Ob} as the absolute coordinate system, a coordinate system {O0} is established at the hinge point between the robotic arm connecting mechanism and the robot base. Coordinate systems {O1}, {O2}, and {O3} are then established sequentially at each hinge point of the lunar robot arm. An actuator coordinate system {OT} is established at the end effector. Finally, the DH coordinate system of the robotic arm is established at the initial position.

[0104] Optionally, in this embodiment of the present disclosure, the transformation relationship between the coordinate system of the actuator and the coordinate system of the robot base is determined based on the connection position between the base and the actuator.

[0105] Optionally, in this embodiment of the present disclosure, the transformation relationship between the robot base coordinate system and the laser positioning coordinate system is determined based on the position of the lunar robot in the target feasible area.

[0106] Optionally, in this embodiment of the present disclosure, the operation of using the target pose transformation matrix to perform pose calculation on the target positioning information to obtain the output positioning information of the actuator in the laser positioning coordinate system may specifically include:

[0107] The target positioning information is transformed from the actuator coordinate system to the robot base coordinate system using the target pose transformation matrix to obtain the corresponding transformed positioning information; the pose of the transformed positioning information is calculated according to the laser positioning coordinate system to determine the output positioning information of the actuator in the laser positioning coordinate system.

[0108] In this disclosure, the process of transforming target positioning information from the actuator coordinate system to the robot base coordinate system can be represented as follows: The relationship between the robot arm's movement angles is established based on the angles between each link in the actuator coordinate system and the horizontal direction, i.e., as shown... Figure 9 As shown, using θ i α i l i and d i This parameter describes the relationship between two adjacent links in a robot arm. Where θ i It can represent the joint rotation angle of the i-th link in the XOY plane; α i It can represent the joint torsion angle of the i-th link in the XOZ plane; l iIt can represent the length of the i-th link; d i This can represent the link spacing (not shown in the figure). The DH parameters of the robotic arm, obtained from the established DH coordinate system, are shown in Table 1.

[0109] Table 1

[0110] i <![CDATA[l i-1 ]]> <![CDATA[α i-1 ]]> <![CDATA[d i ]]> <![CDATA[θ i ]]> 1 0 0 0 <![CDATA[θ1]]> 2 <![CDATA[l1]]> 0 0 <![CDATA[θ2 <!-- 9 -->]]> 3 <![CDATA[l2]]> 0 0 <![CDATA[θ3]]> 4 <![CDATA[l3]]> 0

[0111] In this embodiment of the disclosure, based on the DH rule, coordinate system transformations can be performed between coordinate systems {Ob}, {O0}, {O1}, {O2}, {O3}, and {OT} in the actuator coordinate system. Specifically, the coordinate system transformation matrix is ​​represented as follows:

[0112] ①From coordinate system {O b The 4×4 transformation matrix from {O0} to {O0} is:

[0113]

[0114] ②The 4×4 transformation matrix from coordinate system {O0} to {O1} is:

[0115]

[0116] ③ The 4×4 transformation matrix from coordinate system {O1} to {O2} is:

[0117]

[0118] ④ The 4×4 transformation matrix from coordinate system {O2} to {O3} is:

[0119]

[0120] ⑤ From coordinate system {O3} to {O T The 4×4 transformation matrix of} is

[0121]

[0122] ⑥ From coordinate system {O b} to {O T The 4×4 transformation matrix of} is

[0123]

[0124] Finally, the end effector of the robotic arm, {O}, can be obtained. T} to robot base coordinate system {O b Position transformation matrix and attitude matrix The specific form is:

[0125]

[0126]

[0127] Optionally, in this embodiment of the present disclosure, the step of performing pose calculation on the transformed positioning information according to the laser positioning coordinate system to determine the output positioning information of the actuator in the laser positioning coordinate system may specifically include:

[0128] According to the transformation relationship between the robot base coordinate system and the laser positioning coordinate system, the transformed positioning information is calculated into the output positioning information of the actuator in the laser positioning coordinate system.

[0129] For example, laser position trackers are installed at the eight vertices of a robot base cube model. Data processing from the laser positioning system is used to obtain the robot base's pose in the laser positioning system coordinates. The specific process is as follows: the connection status of the laser positioning base station and the laser position trackers is detected; the laser positioning base station emits horizontal and vertical lasers to scan the entire laser positioning space; the laser position trackers on the robot base receive the laser signals and collect laser positioning data from the top and bottom eight vertices; the robot's onboard computer performs pose calculations to obtain the position transformation matrix. and attitude matrix It should be noted that the position transformation matrix and attitude matrix This can be a matrix that transforms the base coordinate system {Ob} to the coordinate system {O0}, and this position transformation matrix... and attitude matrix The specific values ​​can be determined based on the location of the hinge point between the robotic arm connection mechanism and the robot base. For example, if the length of the robot base in the Xb direction is m, then the position transformation matrix can be... The attitude matrix can be

[0130] Optionally, in this embodiment of the present disclosure, the operation of adjusting the initial pose transformation matrix by comparing the standard pose information of the actuator with the transformed pose information may specifically include:

[0131] The parameters in the initial pose transformation matrix are adjusted based on the difference between the standard pose information and the transformed pose information.

[0132] In this embodiment, a pose transformation matrix is ​​used between the laser positioning system coordinate system, the robot base coordinate system, and the robotic arm DH coordinate system. and The pose information of the robotic arm's end effector in the laser positioning system is obtained through coordinate transformation. The specific transformation process is as follows: The pose coordinates of the robotic arm's end effector obtained through coordinate transformation are compared with the acquired precise pose coordinates. Based on the precise pose data, the robotic arm's end effector is calibrated and adjusted. Specifically, adjusting the parameters in the initial pose transformation matrix can be achieved by setting parameter f in the initial pose transformation matrix. The parameters in the initial pose transformation matrix can be represented as a position transformation matrix. Attitude matrix For example, the position transformation matrix mentioned above and attitude matrix It can be the case where the parameter is 0.

[0133] Example, Figure 10 This is a flowchart of determining a calibration pose transformation matrix provided in an embodiment of this disclosure, such as... Figure 10 As shown, S31, a laser is emitted from the laser positioning base station in the feasible area of ​​the target to establish a laser positioning coordinate system; S32, the photosensitive sensor on the lunar robot receives the laser signal; S33, the initial positioning information of the base is collected; S34, the transformation positioning information of the actuator is obtained; S35, the standard pose information of the actuator is collected; S36, the target pose transformation matrix is ​​determined.

[0134] Specifically, in one implementation, when the lunar robot is in its initial state, the initial positioning information of the base in the laser positioning coordinate system is collected. The initial pose transformation matrix is ​​used to calculate the pose of the initial positioning information to obtain the transformed positioning information of the actuator in the laser positioning coordinate system. Then, the standard pose information of the actuator in the laser positioning coordinate system when the lunar robot is in its initial state is obtained through preset sensors on the actuator. The standard pose information of the actuator is compared with the transformed pose information to adjust the initial pose transformation matrix. The initial pose transformation matrix that is adjusted to coincide with the standard pose information is used as the calibration pose transformation matrix.

[0135] When the lunar robot moves freely within the target feasible area, since the main moving parts on the lunar robot are the actuators, and the movement of the actuators is mainly achieved through the rotation of the connecting mechanisms, the process of determining the location of the actuators can be as follows: When the lunar robot is located within the target feasible area, the target positioning information of the base in the laser positioning coordinate system is collected by the preset sensors set on the lunar robot base. Then, based on the rotation angle of each hinge in the lunar robot connecting mechanism and the target pose transformation matrix, the target pose transformation matrix from the base to the actuator is determined. The target pose transformation matrix is ​​used to perform pose calculation on the target positioning information to obtain the output positioning information of the actuator in the laser positioning coordinate system.

[0136] Figure 11 This disclosure provides a lunar robot positioning device, such as... Figure 11 As shown, the device 50 may include:

[0137] The first acquisition module 501 is used to acquire the target positioning information of the lunar robot's base in a laser positioning coordinate system when the lunar robot is located in the target feasible area; the lunar robot includes the base, a connecting mechanism, and an execution mechanism, the base being hinged to the execution mechanism through the connecting mechanism; the laser positioning coordinate system is established by emitting lasers from N laser positioning base stations in the target feasible area, where N is a positive integer;

[0138] The first determining module 502 is used to determine the target pose transformation matrix from the base to the actuator based on the rotation angle of each hinge in the connecting mechanism and the target pose transformation matrix.

[0139] The first acquisition module 503 is used to perform pose calculation on the target positioning information using the target pose transformation matrix to obtain the output positioning information of the actuator in the laser positioning coordinate system.

[0140] In summary, the lunar robot positioning device provided in this embodiment of the invention can collect target positioning information of the base in a laser positioning coordinate system when the lunar robot is located in a target feasible area. The laser positioning coordinate system is established by emitting lasers from N laser positioning base stations in the target feasible area, where N is a positive integer. Based on the rotation angle of each hinge in the connecting mechanism and the target pose transformation matrix, the target pose transformation matrix from the base to the actuator is determined. The target pose transformation matrix is ​​used to calculate the pose of the target positioning information to obtain the output positioning information of the actuator in the laser positioning coordinate system. In this way, on the one hand, due to the special nature of the lunar environment, establishing a laser positioning coordinate system can improve the accuracy of identifying the location of the lunar robot. On the other hand, since the actuator is small in size and usually in an active state, it is difficult to capture its location. This disclosure simplifies the operation steps of determining the location of the actuator by only collecting the location of the base, and also improves the accuracy of determining the location of the actuator. Thus, it can solve the problems of low positioning accuracy and poor robustness of lunar robots when conducting operation experiments in the lunar environment to a certain extent.

[0141] Optionally, the first acquisition module 501 is further configured to:

[0142] The lasers emitted by the N laser positioning base stations are captured by a preset sensor installed on the base, and the laser capture information corresponding to the base is obtained.

[0143] Based on the location of the N laser positioning base stations in the target feasible area and the laser capture information corresponding to the base, the target positioning information of the base in the laser positioning coordinate system is determined.

[0144] Optionally, the calibration pose transformation matrix is ​​determined based on the initial pose transformation matrix, and the device 50 further includes:

[0145] The second acquisition module is used to acquire the initial positioning information of the base in the laser positioning coordinate system;

[0146] The second obtaining module is used to perform pose calculation on the initial positioning information using the initial pose transformation matrix to obtain the transformed positioning information of the actuator in the laser positioning coordinate system;

[0147] An adjustment module is used to adjust the initial pose transformation matrix by comparing the standard pose information of the actuator with the transformed pose information; the standard pose information is determined by the actuator capturing laser light at the initial position.

[0148] The second determining module is used to take the initial pose transformation matrix adjusted to coincide with the standard pose information as the calibration pose transformation matrix.

[0149] Optionally, the adjustment module is further configured to:

[0150] The parameters in the initial pose transformation matrix are adjusted based on the difference between the standard pose information and the transformed pose information.

[0151] Optionally, the initial pose transformation matrix is ​​determined based on the transformation relationship between the actuator coordinate system and the robot base coordinate system, and between the robot base coordinate system and the laser positioning coordinate system; the actuator coordinate system is a coordinate system with the connection point of the connecting mechanism as the origin; the robot base coordinate system is a coordinate system with the center of the base as the origin.

[0152] Optionally, the first obtaining module 503 is further configured to:

[0153] The target positioning information is transformed from the actuator coordinate system to the robot base coordinate system using the target pose transformation matrix to obtain the corresponding transformed positioning information;

[0154] The pose of the transformed positioning information is calculated according to the laser positioning coordinate system to determine the output positioning information of the actuator in the laser positioning coordinate system.

[0155] Optionally, the transformation relationship between the actuator coordinate system and the robot base coordinate system is determined based on the connection position between the base and the actuator.

[0156] Optionally, the transformation relationship between the robot base coordinate system and the laser positioning coordinate system is determined based on the position of the lunar robot within the target feasible area.

[0157] Optionally, the first obtaining module 503 is further configured to:

[0158] According to the transformation relationship between the robot base coordinate system and the laser positioning coordinate system, the transformed positioning information is calculated into the output positioning information of the actuator in the laser positioning coordinate system.

[0159] The specific details of each module in the aforementioned lunar robot positioning device have been described in detail in the corresponding lunar robot positioning method, so they will not be repeated here.

[0160] This disclosure also provides a lunar robot positioning system, characterized in that the system includes: a lunar robot and a laser positioning base station;

[0161] The laser positioning base station can be used to emit lasers in a feasible area of ​​the target;

[0162] The lunar robot can be used to collect target positioning information of its base in a laser positioning coordinate system when the lunar robot is located in the target feasible area. The lunar robot includes the base, a connecting mechanism, and an execution mechanism. The base is hinged to the execution mechanism through the connecting mechanism. The laser positioning coordinate system is established by emitting lasers from N laser positioning base stations in the target feasible area, where N is a positive integer. The target pose transformation matrix from the base to the execution mechanism is determined based on the rotation angle of each hinge in the connecting mechanism and the target pose transformation matrix. The target pose transformation matrix is ​​used to perform pose calculation on the target positioning information to obtain the output positioning information of the execution mechanism in the laser positioning coordinate system.

[0163] In summary, the lunar robot positioning system provided by this embodiment of the invention includes a lunar robot and a laser positioning base station. The laser positioning base station can be used to emit lasers in a feasible target area. The lunar robot can be used to collect target positioning information of the base in the laser positioning coordinate system when the lunar robot is located in the feasible target area. The laser positioning coordinate system is established by emitting lasers from N laser positioning base stations in the feasible target area, where N is a positive integer. Based on the rotation angle of each hinge in the connecting mechanism and the target pose transformation matrix, the target pose transformation matrix from the base to the actuator is determined. The target pose transformation matrix is ​​used to perform pose calculation on the target positioning information to obtain the output positioning information of the actuator in the laser positioning coordinate system. In this way, on the one hand, due to the special nature of the lunar environment, establishing a laser positioning coordinate system can improve the accuracy of identifying the location of the lunar robot. On the other hand, since the actuator is small in size and usually in an active state, it is difficult to capture its location. This disclosure solves the problem of low positioning accuracy and poor robustness of the lunar robot when it is operating in the lunar environment.

[0164] Optionally, the lunar robot is also used for:

[0165] The lasers emitted by the N laser positioning base stations are captured by a preset sensor installed on the base, and the laser capture information corresponding to the base is obtained.

[0166] Based on the location of the N laser positioning base stations in the target feasible area and the laser capture information corresponding to the base, the target positioning information of the base in the laser positioning coordinate system is determined.

[0167] Optionally, the calibration pose transformation matrix is ​​determined based on the initial pose transformation matrix, and the lunar robot further includes:

[0168] The second acquisition module is used to acquire the initial positioning information of the base in the laser positioning coordinate system;

[0169] The second obtaining module is used to perform pose calculation on the initial positioning information using the initial pose transformation matrix to obtain the transformed positioning information of the actuator in the laser positioning coordinate system;

[0170] An adjustment module is used to adjust the initial pose transformation matrix by comparing the standard pose information of the actuator with the transformed pose information; the standard pose information is determined by the actuator capturing laser light at the initial position.

[0171] The second determining module is used to take the initial pose transformation matrix adjusted to coincide with the standard pose information as the calibration pose transformation matrix.

[0172] Optionally, the lunar robot is also used for:

[0173] The parameters in the initial pose transformation matrix are adjusted based on the difference between the standard pose information and the transformed pose information.

[0174] Optionally, the initial pose transformation matrix is ​​determined based on the transformation relationship between the actuator coordinate system and the robot base coordinate system, and between the robot base coordinate system and the laser positioning coordinate system; the actuator coordinate system is a coordinate system with the connection point of the connecting mechanism as the origin; the robot base coordinate system is a coordinate system with the center of the base as the origin.

[0175] Optionally, the lunar robot is also used for:

[0176] The target positioning information is transformed from the actuator coordinate system to the robot base coordinate system using the target pose transformation matrix to obtain the corresponding transformed positioning information;

[0177] The pose of the transformed positioning information is calculated according to the laser positioning coordinate system to determine the output positioning information of the actuator in the laser positioning coordinate system.

[0178] Optionally, the transformation relationship between the actuator coordinate system and the robot base coordinate system is determined based on the connection position between the base and the actuator.

[0179] Optionally, the transformation relationship between the robot base coordinate system and the laser positioning coordinate system is determined based on the position of the lunar robot within the target feasible area.

[0180] Optionally, the lunar robot is also used for:

[0181] According to the transformation relationship between the robot base coordinate system and the laser positioning coordinate system, the transformed positioning information is calculated into the output positioning information of the actuator in the laser positioning coordinate system.

[0182] The specific details of each module in the above lunar robot localization system have been described in detail in the corresponding lunar robot localization method, so they will not be repeated here.

[0183] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0184] Furthermore, although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps.

[0185] Those skilled in the art will understand that various aspects of this disclosure can be implemented as a system, method, or program product. Therefore, various aspects of this disclosure can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, collectively referred to herein as a "circuit," "module," or "system."

[0186] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0187] In exemplary embodiments of this disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible implementations, various aspects of this disclosure may also be implemented as a program product including program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of this disclosure described in the "Exemplary Methods" section above.

[0188] The program product for implementing the above-described method according to embodiments of the present disclosure may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0189] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0190] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0191] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0192] Program code for performing the operations of this disclosure can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0193] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of this disclosure and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0194] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention described herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not invented by this disclosure. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

Claims

1. A method for locating a lunar robot, characterized in that, The method includes: When the lunar robot is located in the target feasible area, the target positioning information of the lunar robot's base in the laser positioning coordinate system is collected; the lunar robot includes the base, the connecting mechanism and the execution mechanism, and the base is hinged to the execution mechanism through the connecting mechanism; the laser positioning coordinate system is established by emitting lasers from N laser positioning base stations in the target feasible area, where N is a positive integer; Based on the rotation angle of each hinge in the connecting mechanism and the calibrated pose transformation matrix, the target pose transformation matrix from the base to the actuator is determined; The target pose transformation matrix is ​​used to perform pose calculation on the target positioning information to obtain the output positioning information of the actuator in the laser positioning coordinate system; The acquisition of the target positioning information of the base in the laser positioning coordinate system includes: The lasers emitted by the N laser positioning base stations are captured by a preset sensor installed on the base, and the laser capture information corresponding to the base is obtained. Based on the location of the N laser positioning base stations in the target feasible area and the laser capture information corresponding to the base, the target positioning information of the base in the laser positioning coordinate system is determined. The calibration pose transformation matrix is ​​determined based on the initial pose transformation matrix, and the method further includes: Acquire the initial positioning information of the base in the laser positioning coordinate system; The initial pose transformation matrix is ​​used to perform pose calculation on the initial positioning information to obtain the transformed pose information of the actuator in the laser positioning coordinate system; The initial pose transformation matrix is ​​adjusted by comparing the standard pose information of the actuator with the transformed pose information; the standard pose information is determined by the actuator capturing laser light at the initial position. The initial pose transformation matrix adjusted to coincide with the standard pose information is used as the calibration pose transformation matrix; The initial pose transformation matrix is ​​determined based on the transformation relationship between the actuator coordinate system and the robot base coordinate system, and between the robot base coordinate system and the laser positioning coordinate system; the actuator coordinate system is a coordinate system with the connection point of the connecting mechanism as the origin; the robot base coordinate system is a coordinate system with the center of the base as the origin.

2. The method according to claim 1, characterized in that, The step of adjusting the initial pose transformation matrix by comparing the standard pose information of the actuator with the transformed pose information includes: The parameters in the initial pose transformation matrix are adjusted based on the difference between the standard pose information and the transformed pose information.

3. The method according to claim 1, characterized in that, The transformation relationship between the actuator coordinate system and the robot base coordinate system is determined based on the connection position between the base and the actuator.

4. The method according to claim 1, characterized in that, The transformation relationship between the robot base coordinate system and the laser positioning coordinate system is determined based on the position of the lunar robot within the target feasible area.

5. The method according to claim 1, characterized in that, The step of using the target pose transformation matrix to calculate the pose of the target positioning information to obtain the output positioning information of the actuator in the laser positioning coordinate system includes: The target positioning information is transformed from the actuator coordinate system to the robot base coordinate system using the target pose transformation matrix to obtain the corresponding transformed pose information. The pose information of the transformed position is calculated according to the laser positioning coordinate system to determine the output positioning information of the actuator in the laser positioning coordinate system.

6. The method according to claim 5, characterized in that, The step of performing pose calculation on the transformed pose information according to the laser positioning coordinate system to determine the output positioning information of the actuator in the laser positioning coordinate system includes: According to the transformation relationship between the robot base coordinate system and the laser positioning coordinate system, the transformed pose information is calculated into the output positioning information of the actuator in the laser positioning coordinate system.

7. A lunar robot positioning device, characterized in that, The device includes: The first acquisition module is used to acquire the target positioning information of the lunar robot's base in a laser positioning coordinate system when the lunar robot is located in the target feasible area; the lunar robot includes the base, a connecting mechanism, and an execution mechanism, and the base is hinged to the execution mechanism through the connecting mechanism; the laser positioning coordinate system is established by emitting lasers from N laser positioning base stations in the target feasible area, where N is a positive integer; The first determining module is used to determine the target pose transformation matrix from the base to the actuator based on the rotation angle of each hinge in the connecting mechanism and the target pose transformation matrix. The first obtaining module is used to perform pose calculation on the target positioning information using the target pose transformation matrix to obtain the output positioning information of the actuator in the laser positioning coordinate system; The step of collecting the target positioning information of the base in the laser positioning coordinate system includes: capturing the laser emitted by the N laser positioning base stations through a preset sensor set on the base, and obtaining the laser capture information corresponding to the base; and determining the target positioning information of the base in the laser positioning coordinate system based on the setting positions of the N laser positioning base stations in the feasible target area and the laser capture information corresponding to the base. The calibration pose transformation matrix is ​​determined based on the initial pose transformation matrix. The device is further configured to: acquire initial positioning information of the base in the laser positioning coordinate system; perform pose calculation on the initial positioning information using the initial pose transformation matrix to obtain the transformed pose information of the actuator in the laser positioning coordinate system; adjust the initial pose transformation matrix by comparing the standard pose information of the actuator with the transformed pose information; the standard pose information is determined by the actuator capturing laser light at its initial position; and use the initial pose transformation matrix adjusted to coincide with the standard pose information as the calibration pose transformation matrix. The initial pose transformation matrix is ​​determined based on the transformation relationship between the actuator coordinate system and the robot base coordinate system, and between the robot base coordinate system and the laser positioning coordinate system; the actuator coordinate system is a coordinate system with the connection point of the connecting mechanism as the origin; and the robot base coordinate system is a coordinate system with the center of the base as the origin.

8. A lunar robot positioning system, characterized in that, The system includes: a lunar robot and a laser positioning base station; The laser positioning base station is used to emit lasers in the feasible area of ​​the target; The lunar robot is used to collect target positioning information of its base in a laser positioning coordinate system when the lunar robot is located in the target feasible area. The lunar robot includes the base, a connecting mechanism, and an execution mechanism. The base is hinged to the execution mechanism through the connecting mechanism. The laser positioning coordinate system is established by emitting lasers from N laser positioning base stations in the target feasible area, where N is a positive integer. Based on the rotation angle of each hinge in the connecting mechanism and the target pose transformation matrix, the target pose transformation matrix from the base to the execution mechanism is determined. The target pose transformation matrix is ​​used to perform pose calculation on the target positioning information to obtain the output positioning information of the execution mechanism in the laser positioning coordinate system. The step of collecting the target positioning information of the base in the laser positioning coordinate system includes: capturing the laser emitted by the N laser positioning base stations through a preset sensor set on the base, and obtaining the laser capture information corresponding to the base; and determining the target positioning information of the base in the laser positioning coordinate system based on the setting positions of the N laser positioning base stations in the feasible target area and the laser capture information corresponding to the base. The calibration pose transformation matrix is ​​determined based on the initial pose transformation matrix. The system is further configured to: acquire initial positioning information of the base in the laser positioning coordinate system; perform pose calculation on the initial positioning information using the initial pose transformation matrix to obtain the transformed pose information of the actuator in the laser positioning coordinate system; adjust the initial pose transformation matrix by comparing the standard pose information of the actuator with the transformed pose information; the standard pose information is determined by the actuator capturing laser light at its initial position; and use the initial pose transformation matrix adjusted to coincide with the standard pose information as the calibration pose transformation matrix. The initial pose transformation matrix is ​​determined based on the transformation relationship between the actuator coordinate system and the robot base coordinate system, and between the robot base coordinate system and the laser positioning coordinate system; the actuator coordinate system is a coordinate system with the connection point of the connecting mechanism as the origin; and the robot base coordinate system is a coordinate system with the center of the base as the origin.

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