Laser radar-based positioning method, device, and readable storage medium

Abstract

This application is applicable to the field of positioning technology and provides a laser radar-based positioning method, device, and readable storage medium. The method includes: obtaining point cloud data of the external environment; obtaining a point cloud of a QR code in the point cloud data based on reflectivity, and performing QR code recognition on the point cloud of the QR code to obtain the location information of the target; and determining the location of the mobile device based on the location information. The QR codes in this application are set with different reflectivities. The QR codes can be identified by reflectivity without being affected by ambient light or brightness, thereby improving the accuracy of the QR code data and thus improving the accuracy of positioning.

Description

Technical Field

[0001] The present application belongs to the field of positioning technology, and in particular relates to a laser radar-based positioning method, device and readable storage medium. Background Art

[0002] As autonomous driving technology matures, mobile device positioning technology is increasingly being used. This technology uses a camera to capture an image of the surrounding environment and then calculates the relative position of the QR code based on the image of the QR code in the image.

[0003] However, the acquired image will be affected by the ambient light and brightness, resulting in inaccurate image data, affecting the recognition of the QR code and thus affecting the accuracy of positioning. Summary of the Invention

[0004] The embodiments of the present application provide a laser radar-based positioning method, device, electronic device, readable storage medium and computer program product, which can solve the problem of inaccurate positioning based on image data.

[0005] In a first aspect, an embodiment of the present application provides a positioning method based on a laser radar, comprising:

[0006] Obtain point cloud data of the external environment;

[0007] According to the reflectivity, a point cloud of a two-dimensional code is obtained from the point cloud data, and two-dimensional code recognition is performed on the point cloud of the two-dimensional code to obtain position information of the target;

[0008] determining a location of the mobile device based on the location information;

[0009] Wherein, the two-dimensional code is set by different reflectivity.

[0010] Optionally, the method further includes:

[0011] According to the position of the mobile device, the mobile device is controlled to move toward the target so that the mobile device is aligned with the target.

[0012] Optionally, the position information includes a first relative position of the target relative to the QR code;

[0013] The step of obtaining a point cloud of a QR code from the point cloud data includes:

[0014] Obtaining a point cloud of the positioning mark of the QR code according to the reflectivity;

[0015] Perform plane fitting based on the point cloud position of the positioning marker to obtain the plane where the QR code is located;

[0016] On the plane where the two-dimensional code is located, determining the valid area of ​​the two-dimensional code according to the point cloud position of the positioning mark;

[0017] According to the plane where the two-dimensional code is located and the effective area, a second relative position of the two-dimensional code with respect to the radar is determined, and a point cloud of the two-dimensional code is obtained.

[0018] Optionally, determining the location of the mobile device according to the location information includes:

[0019] determining a third relative position of the target relative to the radar based on the first relative position and the second relative position;

[0020] Based on a calibration matrix between the radar and the mobile device and according to the third relative position, a fourth relative position of the target relative to the mobile device is determined to obtain the position of the mobile device.

[0021] Optionally, obtaining a point cloud of the QR code according to the plane where the QR code is located and the valid area includes:

[0022] Determine the normal vector of the QR code based on the plane where the QR code is located and the valid area:

[0023] Determining, based on the normal vector, an angle between the orientation of the mobile device and the normal vector;

[0024] If the angle is greater than a preset angle, obtaining a point cloud of the QR code and determining a true reflectivity of the point cloud of the QR code according to the angle; or controlling the movement of the mobile device according to the second relative position until the angle is less than the preset angle;

[0025] If the angle is smaller than the preset angle, a point cloud of the two-dimensional code is obtained, and the intensity of the point cloud of the two-dimensional code is the true reflectivity.

[0026] Optionally, the content of the QR code is encoded by at least two reflectivities, wherein the encoded base is the same as the number of reflectivities used to encode the content, the reflectivity used by the positioning mark is different from the reflectivity used to encode the content, and the reflectivity used by the positioning mark is used to represent the base.

[0027] Optionally, the reflectivity used for the positioning mark is greater than the reflectivity used for encoding the content.

[0028] In a second aspect, an embodiment of the present application provides a positioning device based on a laser radar, comprising:

[0029] An acquisition unit, used to acquire point cloud data of the external environment;

[0030] Also used for obtaining a point cloud of the QR code in the point cloud data based on the reflectivity;

[0031] an identification unit, configured to perform two-dimensional code recognition on the point cloud of the two-dimensional code according to the reflectivity to obtain the position information of the target;

[0032] a determining unit, configured to determine a location of the mobile device based on the location information;

[0033] Wherein, the two-dimensional code is set by different reflectivity.

[0034] In a third aspect, an embodiment of the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method described in any one of the first aspects above is implemented.

[0035] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method as described in any one of the above-mentioned first aspects is implemented.

[0036] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on an electronic device, enables the electronic device to execute any one of the methods described in the first aspect above.

[0037] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

[0038] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0039] The embodiment of the present application obtains point cloud data of the external environment; based on the reflectivity, obtains the point cloud of the QR code in the point cloud data, and performs QR code recognition on the point cloud of the QR code to obtain the location information of the target; determines the location of the mobile device based on the location information; based on the fact that the QR code is set with different reflectivities, the QR code can be identified by the reflectivity without being affected by ambient light and brightness, thereby improving the accuracy of the QR code data and thus improving the accuracy of positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0041] Figure 1 This is a flowchart of a positioning method provided by an embodiment of the present application;

[0042] Figure 2 This is an example diagram of the QR code pasting position provided by an embodiment of the present application;

[0043] Figure 3 This is a schematic diagram of the structure of a QR code provided in one embodiment of the present application;

[0044] Figure 4 This is a schematic diagram of obtaining the true reflectivity provided by an embodiment of the present application;

[0045] Figure 5 is a structural diagram of a positioning device provided in one embodiment of the present application;

[0046] Figure 6 It is a structural diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0047] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0048] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0049] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0050] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0051] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0052] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0053] Figure 1 This is a flow chart of a positioning method provided by an embodiment of the present application. Figure 1 As shown, the method includes:

[0054] S11: Acquire point cloud data of the external environment.

[0055] In applications, mobile devices require real-time positioning during autonomous driving. A radar installed on the mobile device first collects point cloud data of the external environment to provide a basis for subsequent positioning. Because this embodiment uses QR codes for positioning, the radar must collect point cloud data including the QR code. The radar can be a 360° three-dimensional laser radar.

[0056] Generally, the QR code is pasted near the target so that the pasting position remains the same as the target position, which facilitates the lidar to recognize the QR code and facilitates the positioning of the mobile device. Figure 2 Target 10 is a parking space, and QR code 11 is pasted on the wall corresponding to the parking space.

[0057] S12: According to the reflectivity, a point cloud of the QR code is obtained from the point cloud data, and QR code recognition is performed on the point cloud of the QR code to obtain the position information of the target.

[0058] In applications, because QR codes are set with different reflectivities, electronic devices use the corresponding reflectivity of the QR code to obtain the QR code's point cloud from the point cloud data. At the same time, the QR code's content is also identified based on the corresponding reflectivity, obtaining the target's location information.

[0059] S13: Determine the location of the mobile device according to the location information.

[0060] In an application, the electronic device obtains the relative position between the target and the mobile device based on the target's position information, thereby determining the position of the mobile device relative to the target.

[0061] It is understandable that the QR code in the form of an image is composed of black and white, which is greatly affected by ambient light, making it difficult to distinguish between white and black, and the failure rate is higher in dark environments. However, the QR code set by reflectivity and recognizable by lidar is not affected by ambient light and brightness, which improves the QR code recognition rate.

[0062] This embodiment obtains point cloud data of the external environment; based on the reflectivity, obtains the point cloud of the QR code in the point cloud data, and performs QR code recognition on the point cloud of the QR code to obtain the location information of the target; based on the location information, determines the location of the mobile device; based on the fact that the QR code is set with different reflectivities, the QR code can be identified by reflectivity without being affected by ambient light and brightness, thereby improving the accuracy of the QR code data and thus improving the accuracy of positioning.

[0063] In one embodiment, the method further comprises:

[0064] According to the position of the mobile device, the mobile device is controlled to move toward the target so that the mobile device is aligned with the target.

[0065] In applications, electronic devices control the movement of the mobile device toward the target based on its relative position. During this movement, the LiDAR performs object recognition in the target area to ensure that no other objects interfere with the alignment of the mobile device and the target.

[0066] This embodiment controls the movement of the mobile device toward the target based on the position of the mobile device so that the mobile device is aligned with the target. The position of the mobile device is obtained by identifying a QR code set by different reflectivity, which can accurately obtain the position of the mobile device and then accurately control the movement of the mobile device so that the mobile device is aligned with the target.

[0067] In one embodiment, the content of the QR code is encoded by at least two reflectivities, wherein the encoding base is the same as the number of reflectivities used for the encoded content, the reflectivity used by the positioning marker is different from the reflectivity used for the encoded content, and the reflectivity used by the positioning marker is used to characterize the base; the reflectivity used by the positioning marker is greater than the reflectivity used for the encoded content.

[0068] The positioning mark of the QR code is used to mark the position of the QR code so that it can be correctly identified. According to the structure of the QR code, the positioning mark is set at the corner of the QR code so that the QR code can be identified from which direction it is read.

[0069] The encoding base is the same as the number of reflectances used to encode the content. That is, each digit in the base corresponds to a reflectance, and the reflectances of each digit are different. For example, the content of a binary QR code is encoded using two reflectances. The content of a ternary QR code is encoded using three reflectances.

[0070] Figure 3 This is a schematic diagram of the structure of a QR code provided in one embodiment of the present application. Figure 3 As shown, the QR code is binary. Highly reflective surfaces are placed at the top left, top right, and bottom right corners of the QR code as positioning markers. The reflectivity of these highly reflective surfaces is 200%, and they also represent binary. Two reflectivities are used to encode the QR code's content: a 10% reflectivity surface represents 0, and a 100% reflectivity surface represents 1.

[0071] In one embodiment, the position information includes a first relative position of the target relative to the QR code. In addition, the position information also includes size information of the target so that the mobile device can be better aligned with the target.

[0072] Step S12 includes:

[0073] S121: Obtaining a point cloud of the positioning mark of the QR code according to the reflectivity.

[0074] In the application, the point cloud of the positioning marker is obtained in the point cloud data according to the reflectivity of the positioning marker.

[0075] S122: Perform plane fitting based on the point cloud position of the positioning marker to obtain the plane where the QR code is located.

[0076] In the application, the position of the positioning mark is determined based on the point cloud of the positioning mark. In three-dimensional space, the plane where the QR code is located is determined in the point cloud data through plane fitting based on the position of the positioning mark point cloud.

[0077] For example, if the positioning mark is a high reverse surface, the point cloud position of the positioning mark is the position coordinate of the center of the high reverse surface.

[0078] S123: On the plane where the QR code is located, determine the valid area of ​​the QR code according to the point cloud position of the positioning marker.

[0079] In the application, the point cloud boundary of the QR code is obtained based on the point cloud position of the positioning marker. Based on the point cloud boundary of the QR code, the area of ​​the QR code on the plane where the QR code is located is determined to obtain the valid area.

[0080] S124: Determine a second relative position of the QR code relative to the radar based on the plane where the QR code is located and the effective area, and obtain a point cloud of the QR code.

[0081] In the application, the normal vector of the QR code plane is determined according to the plane where the QR code is located and the valid area; based on the normal vector, the angle between the orientation of the mobile device and the normal vector is determined; if the angle is greater than the preset angle, the point cloud of the QR code is obtained, and the true reflectivity of the point cloud of the QR code is determined based on the angle; or the mobile device is controlled to move according to the second relative position until the angle is less than the preset angle; if the angle is less than the preset angle, the point cloud of the QR code is obtained, and the intensity of the point cloud of the QR code is the true reflectivity.

[0082] Specifically, the normal vector is determined on the plane containing the QR code based on the principle of finding the plane normal vector using a three-dimensional plane equation. The incident angle of the lidar laser beam on the effective area is determined based on the line connecting the position of the mobile device's lidar and the center of the QR code's effective area, as well as the normal vector of the plane containing the QR code.

[0083] Generally speaking, the angle at which the laser radar's laser beam enters the QR code, that is, the angle between the orientation of the mobile device and the normal vector, will affect the reflectivity of the QR code measured by the laser radar. Therefore, the closer the incidence is to vertical, the smaller the impact on the reflectivity of the QR code measured by the laser radar. In other words, the smaller the angle, the smaller the impact on the reflectivity of the QR code measured by the laser radar. When the angle is greater than the preset angle, the true reflectivity of the QR code point cloud can be calculated using a mathematical model that uses the angle as a parameter. Alternatively, the mobile device can be controlled to move by a second relative position until the angle is less than the preset angle. By reducing the impact of the incident angle on the measurement in this way, the recognition of the QR code is improved.

[0084] Figure 4 This is a schematic diagram of obtaining the true reflectivity provided by an embodiment of the present application. Figure 4 As shown, a QR code 20 is placed on a wall, and a laser radar 22 on a mobile device 21 scans the external environment. The dashed mobile device represents the previous moment. The angle λ between the dashed direction m and the normal vector n represents the angle at the previous moment. If the angle at the previous moment is greater than the preset angle, the mobile device is controlled to move. The solid mobile device represents the current moment. The angle θ between the solid direction p and the normal vector n represents the current angle. If the angle at the current moment is less than the preset angle, the point cloud of the QR code is obtained.

[0085] Step S13 includes:

[0086] S131: Determine a third relative position of the target relative to the radar based on the first relative position and the second relative position.

[0087] In application, the first relative position of the target relative to the QR code and the second relative position of the QR code relative to the laser radar are combined to obtain the third relative position of the target relative to the laser radar.

[0088] S132: Based on the calibration matrix between the radar and the mobile device and according to the third relative position, determine a fourth relative position of the target relative to the mobile device to obtain the position of the mobile device.

[0089] In the application, the postures of the lidar and mobile device are calibrated in advance to obtain the calibration matrix between the lidar and the mobile device, such as the rotation matrix and the translation matrix.

[0090] Based on the rotation matrix and the translation matrix, the third relative position of the target relative to the laser radar is rotated and translated to obtain the fourth relative position of the target relative to the mobile device, and then the position of the mobile device is obtained.

[0091] In one embodiment, the target is a parking space, and the QR code is set on the wall opposite the parking space.

[0092] The method comprises

[0093] Obtain point cloud data of the external environment;

[0094] According to the reflectivity, the point cloud of the positioning mark of the QR code is obtained;

[0095] According to the point cloud position of the positioning mark, plane fitting is performed to obtain the plane where the QR code is located;

[0096] On the plane where the QR code is located, determine the valid area of ​​the QR code based on the point cloud position of the positioning marker;

[0097] Determine the second relative position of the QR code relative to the radar based on the plane and effective area of ​​the QR code, and obtain the point cloud of the QR code;

[0098] Performing QR code recognition on the point cloud of the QR code to obtain location information of the parking space, the location information including: size information of the parking space and a first relative position of the parking space with respect to the QR code;

[0099] determining a third relative position of the parking space relative to the radar based on a first relative position of the parking space relative to the QR code and a second relative position of the QR code relative to the radar;

[0100] determining, based on a calibration matrix between the radar and the mobile device and according to a third relative position of the parking space relative to the radar, a fourth relative position of the parking space relative to the mobile device, thereby obtaining a position of the mobile device;

[0101] According to the position of the mobile device and the size information of the parking space, the mobile device is controlled to move toward the parking space so that the mobile device is aligned with the parking space.

[0102] In this example, the mobile device is a vehicle. A laser radar on the vehicle collects point cloud data of the surrounding environment. In the point cloud data, the second relative position of the QR code relative to the laser radar is determined based on the plane where the QR code is located, the valid area of ​​the QR code, and the normal vector, and a point cloud of the QR code is obtained. The point cloud of the QR code is identified to obtain the size information of the parking space and the first relative position of the parking space relative to the QR code. Based on the first relative position and the second relative position, the fourth relative position of the parking space relative to the vehicle is determined to obtain the position of the vehicle. Based on the vehicle's position and the size information of the parking space, the vehicle is controlled to move toward the parking space so that the vehicle is aligned with the parking space.

[0103] In one embodiment, the target is a battery replacement interface, and the QR code is set on the wall opposite the battery replacement interface.

[0104] The method comprises

[0105] Obtain point cloud data of the external environment;

[0106] According to the reflectivity, the point cloud of the positioning mark of the QR code is obtained;

[0107] According to the point cloud position of the positioning mark, plane fitting is performed to obtain the plane where the QR code is located;

[0108] On the plane where the QR code is located, determine the valid area of ​​the QR code based on the point cloud position of the positioning marker;

[0109] Determine the second relative position of the QR code relative to the radar based on the plane and effective area of ​​the QR code, and obtain the point cloud of the QR code;

[0110] Performing QR code recognition on the point cloud of the QR code to obtain position information of the battery replacement interface, the position information including: size information of the battery replacement interface and a first relative position of the battery replacement interface with respect to the QR code;

[0111] Determining a third relative position of the battery replacement interface relative to the radar based on the first relative position of the battery replacement interface relative to the QR code and the second relative position of the QR code relative to the radar;

[0112] Determining a fourth relative position of the battery replacement interface relative to the mobile device based on a calibration matrix between the radar and the mobile device and a third relative position of the battery replacement interface relative to the radar to obtain a position of the mobile device;

[0113] According to the position of the mobile device and the size information of the battery replacement interface, the mobile device is controlled to move toward the battery replacement interface so that the mobile device is aligned with the battery replacement interface.

[0114] In an example, the mobile device is a vehicle. The laser radar on the vehicle collects point cloud data of the surrounding environment. In the point cloud data, the second relative position of the QR code relative to the laser radar is determined based on the plane where the QR code is located, the effective area of ​​the QR code and the normal vector, and the point cloud of the QR code is obtained. The point cloud of the QR code is identified to obtain the size information of the battery replacement interface and the first relative position of the battery replacement interface relative to the QR code. Based on the first relative position and the second relative position, the fourth relative position of the battery replacement interface relative to the vehicle is determined to obtain the position of the vehicle. Based on the position of the vehicle and the size information of the battery replacement interface, the movement of the vehicle is controlled to align the vehicle with the battery replacement interface.

[0115] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0116] Corresponding to the method described in the above embodiment, for the sake of convenience of explanation, only the part related to the embodiment of the present application is shown.

[0117] Figure 5 This is a schematic diagram of the structure of a positioning device provided by an embodiment of the present application. Figure 5 As shown, the device includes:

[0118] An acquisition unit 30 is used to acquire point cloud data of the external environment;

[0119] It is also used to obtain the point cloud of the QR code in the point cloud data based on the reflectivity;

[0120] The recognition unit 31 is used to perform two-dimensional code recognition on the point cloud of the two-dimensional code according to the reflectivity to obtain the position information of the target;

[0121] a determining unit 32, configured to determine a location of the mobile device based on the location information;

[0122] Among them, the QR code is set by different reflectivity.

[0123] In one embodiment, the apparatus further comprises:

[0124] The device moving unit is used to control the mobile device to move toward the target according to the position of the mobile device, so that the mobile device is aligned with the target.

[0125] In one embodiment, the determining unit is specifically configured to determine a third relative position of the target relative to the radar based on the first relative position and the second relative position;

[0126] Based on a calibration matrix between the radar and the mobile device, and according to the third relative position, a fourth relative position of the target relative to the mobile device is determined to obtain the position of the mobile device.

[0127] Figure 6 This is a schematic diagram of the structure of an electronic device provided in one embodiment of the present application. Figure 6 As shown, the electronic device 4 of this embodiment includes: at least one processor 40 ( Figure 6 Only one is shown), a memory 41 and a computer program 42 stored in the memory 41 and executable on the at least one processor 40, wherein the processor 40 implements the steps of any of the above-mentioned method embodiments when executing the computer program 42.

[0128] The electronic device 4 may be a computing device such as an in-vehicle system or a cloud server. The electronic device 4 may include, but is not limited to, a processor 40 and a memory 41. Those skilled in the art will understand that Figure 6 This is merely an example of the electronic device 4 and does not constitute a limitation on the electronic device 4 . The electronic device 4 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device 4 may also include input and output devices, network access devices, etc.

[0129] The processor 40 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or any conventional processor.

[0130] In some embodiments, the memory 41 may be an internal storage unit of the electronic device 4, such as a hard disk or memory of the electronic device 4. In other embodiments, the memory 41 may also be an external storage device of the electronic device 4, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 4. Furthermore, the memory 41 may also include both an internal storage unit of the electronic device 4 and an external storage device. The memory 41 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 41 may also be used to temporarily store data that has been output or is to be output.

[0131] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0132] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0133] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned various method embodiments can be implemented.

[0134] An embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device can implement the steps of the above-mentioned method embodiments when executing the computer program product.

[0135] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process of the above-mentioned method embodiment by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium can at least include: any entity or device capable of carrying computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, mobile hard drive, magnetic disk, or optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals or telecommunication signals.

[0136] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0137] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0138] In the embodiments provided in this application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0139] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0140] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A positioning method based on laser radar, characterized in that: include: Obtain point cloud data of the external environment; According to the reflectivity, a point cloud of a two-dimensional code is obtained from the point cloud data, and two-dimensional code recognition is performed on the point cloud of the two-dimensional code to obtain position information of the target; determining a location of the mobile device based on the location information; The two-dimensional code is set by different reflectivities, the content of the two-dimensional code is encoded by at least two reflectivities, and the encoding base is the same as the number of reflectivities used to encode the content.

2. The method according to claim 1, wherein Also includes: According to the position of the mobile device, the mobile device is controlled to move toward the target so that the mobile device is aligned with the target.

3. The method according to claim 1, wherein The position information includes a first relative position of the target relative to the QR code; The step of obtaining a point cloud of a QR code from the point cloud data includes: Obtaining a point cloud of the positioning mark of the QR code according to the reflectivity; Perform plane fitting based on the point cloud position of the positioning marker to obtain the plane where the QR code is located; On the plane where the two-dimensional code is located, determining the valid area of ​​the two-dimensional code according to the point cloud position of the positioning mark; According to the plane where the two-dimensional code is located and the effective area, a second relative position of the two-dimensional code with respect to the radar is determined, and a point cloud of the two-dimensional code is obtained.

4. The method according to claim 3, wherein Determining the location of the mobile device according to the location information includes: determining a third relative position of the target relative to the radar based on the first relative position and the second relative position; Based on a calibration matrix between the radar and the mobile device and according to the third relative position, a fourth relative position of the target relative to the mobile device is determined to obtain the position of the mobile device.

5. The method according to claim 3 or 4, wherein: Obtaining a point cloud of the QR code according to the plane where the QR code is located and the valid area, including: Determine the normal vector of the QR code based on the plane where the QR code is located and the valid area: Determining, based on the normal vector, an angle between the orientation of the mobile device and the normal vector; If the angle is greater than a preset angle, obtaining a point cloud of the QR code and determining a true reflectivity of the point cloud of the QR code according to the angle; or controlling the movement of the mobile device according to the second relative position until the angle is less than the preset angle; If the angle is smaller than the preset angle, a point cloud of the two-dimensional code is obtained, and the intensity of the point cloud of the two-dimensional code is the true reflectivity.

6. The method according to claim 5, wherein: The reflectivity used by the positioning mark is different from the reflectivity used to encode the content, and the reflectivity used by the positioning mark is used to represent the base number.

7. The method according to claim 6, wherein: The reflectivity used by the positioning mark is greater than the reflectivity used for encoding the content.

8. A positioning device based on laser radar, characterized in that: include: An acquisition unit, used to acquire point cloud data of the external environment; Also used for obtaining a point cloud of the QR code in the point cloud data based on the reflectivity; an identification unit, configured to perform two-dimensional code recognition on the point cloud of the two-dimensional code according to the reflectivity to obtain the position information of the target; a determining unit, configured to determine a location of the mobile device based on the location information; The two-dimensional code is set by different reflectivities, the content of the two-dimensional code is encoded by at least two reflectivities, and the encoding base is the same as the number of reflectivities used to encode the content.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

Images