Lidar-based positioning method, apparatus, system, vehicle, and storage medium

Abstract

The application is suitable for the field of intelligent traffic technology, and provides a positioning method, device and system based on a laser radar, a vehicle and a computer readable storage medium. The method comprises the following steps: obtaining coordinate values of at least two targets arranged on a second working vehicle, wherein the coordinate values of each target are the same as the coordinate values of a prism arranged on the target, and the coordinate values of the prism are obtained by tracking the prism with a total station; obtaining a first distance between a laser radar and the target, wherein the laser radar is arranged on a first working vehicle; and determining first pose information of the first working vehicle according to the first distance of at least two targets and the coordinate values of the targets. The application does not depend on GPS signals, and does not need to configure mobile base stations, laser range finders, infrared thermometers and electronic fences and other equipment, and does not need to refer to road ditches or road edges, and has high flexibility. The positioning accuracy of the automatic total station and the laser radar is high.

Description

Technical Field

[0001] This application belongs to the field of intelligent transportation technology, and in particular relates to a positioning method, device, system, vehicle, and computer-readable storage medium based on lidar. Background Technology

[0002] With the rapid development of intelligent control technology and the advancement of autonomous driving technology in recent years, the research and development of unmanned construction vehicles in the construction machinery industry has also entered a rapid development stage. In the process of highway hardening construction, due to the need to control the construction precision during construction operations, the operation process of road rollers is highly repetitive. Furthermore, since the gases emitted by construction materials are harmful to health, the collaborative unmanned operation of pavers and road rollers has become a research hotspot in recent years.

[0003] To achieve simultaneous automatic driving of a paver and at least one road roller while ensuring construction accuracy, precise positioning of the construction vehicles is required. However, this application scenario includes areas without GPS signals, such as tunnels and under bridges, where GPS positioning solutions cannot be used. Positioning via mobile base stations, laser rangefinders, infrared thermometers, or electronic fences is limited by reference points such as drainage ditches or road edges, resulting in poor flexibility and low positioning accuracy. Summary of the Invention

[0004] This application provides a positioning method, device, system, vehicle, and computer-readable storage medium based on lidar, which can accurately locate work vehicles.

[0005] In a first aspect, embodiments of this application provide a positioning method based on lidar, comprising:

[0006] The coordinate values ​​of at least two targets set on the second working vehicle are obtained, wherein the coordinate value of each target is the same as the coordinate value of a prism set on the target, and the coordinate value of the prism is obtained by tracking the prism with a total station;

[0007] The first distance between the lidar and the target is obtained, and the lidar is mounted on the first working vehicle;

[0008] The first pose information of the first working vehicle is determined based on the first distance between at least two of the targets and the coordinate values ​​of the targets.

[0009] The process of obtaining the first distance between the lidar and the target includes:

[0010] Obtain the current frame target point cloud data obtained by the lidar scanning the target;

[0011] Based on the target point cloud data in the current frame, the first observation distance between the lidar and the target is obtained;

[0012] The second observation distance is obtained by performing distortion correction on the first observation distance;

[0013] The second observation distance is determined as the first distance between the lidar and the target.

[0014] The second observation distance is obtained by performing distortion correction on the first observation distance, including:

[0015] Obtain the first motion change vector of the first working vehicle from the first moment to the second moment;

[0016] Obtain the first coordinate value of the second target at the first time and the second coordinate value at the second time, and the vector from the first coordinate value to the second coordinate value is the second motion change vector of the second target;

[0017] Based on the first observation distance, the first motion change vector, and the second motion change vector, determine the second observation distance between the lidar and the second target at the first moment;

[0018] Wherein, the first moment is the moment when the lidar scans the first target, and the second moment is the moment when the lidar scans the second target.

[0019] The process of obtaining the first motion change vector of the first working vehicle from the first moment to the second moment includes:

[0020] Obtain the target point cloud data of the previous frame of the laser radar scanning the first target;

[0021] Based on the target point cloud data of the previous frame and the target point cloud data of the current frame, calculate the pose change of the lidar within one frame;

[0022] The moving speed of the lidar is calculated based on the change in pose.

[0023] Calculate the time difference between the first time point and the second time point;

[0024] The first motion change vector is calculated based on the motion speed and the time difference.

[0025] Furthermore, after calculating the first pose information of the first working vehicle, the process also includes:

[0026] If there are at least three first working vehicles, one of the first working vehicles obtains the second distance to the targets on the other two first working vehicles through the lidar installed on it;

[0027] Based on the second distance and the first pose information of the other two first working vehicles, the second pose information of one of the first working vehicles is determined.

[0028] Secondly, embodiments of this application provide a positioning device based on lidar, comprising:

[0029] The first communication module is used to acquire the coordinate values ​​of at least two targets set on the second working vehicle, wherein the coordinate value of each target is the same as the coordinate value of a prism set on the target, and the coordinate value of the prism is obtained by tracking the prism with a total station.

[0030] The second communication module is used to obtain the first distance between the lidar and the target, wherein the lidar is mounted on the first working vehicle;

[0031] The pose calculation module is used to determine the first pose information of the first working vehicle based on the first distance between at least two of the targets and the coordinate values ​​of the targets.

[0032] Thirdly, embodiments of this application provide a positioning system based on lidar, including: at least one first working vehicle, a second working vehicle, and at least two automatic total stations;

[0033] The second working vehicle is equipped with at least two targets, each target is equipped with a prism, and the automatic total station is set in the working section. The number of automatic total stations is the same as the number of prisms. Each automatic total station is used to track one prism to obtain the coordinate value of the tracked prism. The coordinate value of each target is the same as the coordinate value of the prism set on it.

[0034] Each of the first working vehicles is equipped with a lidar, which is used to obtain a first distance between the lidar and each of the targets;

[0035] Each of the first working vehicles is also equipped with a first controller, which is communicatively connected to the automatic total station and the lidar, and is used to calculate the first pose information of the first working vehicle based on the first distance and the coordinate value of each target.

[0036] In one possible implementation, if there are at least three first-operation vehicles, and each first-operation vehicle is equipped with a target, then

[0037] One of the lidar units installed on the first work vehicle is used to obtain the second distance between the lidar and the targets on the other two first work vehicles;

[0038] The first controller installed on one of the first working vehicles is further configured to determine the second pose information of the one of the first working vehicles based on the second distance and the first pose information of the other two first working vehicles.

[0039] Fourthly, embodiments of this application provide an unmanned operating vehicle, including:

[0040] Vehicle body;

[0041] At least two targets, which are columnar and erected on the vehicle body;

[0042] Each target is topped with a prism, and the number of prisms is the same as the number of automatic total stations set up around the work section.

[0043] Fifthly, embodiments of this application provide an unmanned operating vehicle, including:

[0044] Vehicle body;

[0045] A lidar is used to scan targets on other unmanned vehicles to obtain a first distance between the lidar and the target.

[0046] A first controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method as described in any of the first aspects.

[0047] As one possible implementation, the unmanned operating vehicle also includes a target, which is columnar and erected on the vehicle body.

[0048] In a sixth aspect, embodiments of this application provide a computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the method described in the first aspect.

[0049] In a seventh aspect, embodiments of this application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the method described in the first aspect.

[0050] It is understood that the beneficial effects of the second to seventh aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here.

[0051] The advantages of this application embodiment compared to the prior art are as follows: The target position is obtained by tracking and locating the prism on the second working vehicle using an automatic total station; then, the target on the second working vehicle is scanned by a lidar on the first working vehicle to obtain the distance the lidar reaches the target; based on the positions of at least two targets and the distances the lidar reaches the two targets, the pose information of the first working vehicle can be calculated. This application does not rely on GPS signals and does not require the configuration of mobile base stations, laser rangefinders, infrared thermometers, or electronic fences. It does not require reference to road drainage ditches or road edges, offering greater flexibility, and the positioning accuracy of the automatic total station and lidar is high. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is a schematic diagram of a scenario of a positioning system provided in an embodiment of this application;

[0054] Figure 2 This is a schematic diagram of the positioning system provided in one embodiment of this application.

[0055] Figure 3 This is a flowchart of a positioning method provided in an embodiment of this application;

[0056] Figure 4 This is a flowchart of a distortion correction method provided in an embodiment of this application;

[0057] Figure 5 This is a schematic diagram of the motion distortion of a second target scanned by a lidar in one embodiment of this application;

[0058] Figure 6 This is a schematic diagram of the positioning device provided in one embodiment of this application. Detailed Implementation

[0059] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0060] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0061] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0062] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0063] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0064] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of 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 "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0065] This application provides a positioning system based on lidar, applicable to unmanned vehicle navigation scenarios, particularly for unmanned pavers and roller groups in road construction. The system uses an automatic total station to locate the paver, and the roller can calculate its own position based on the paver's location and the relative distance between them. In the coordinated operation of road paving and compaction, the scheduling system can assign compaction tasks to multiple rollers based on the locations of the paver and roller.

[0066] Figure 1 This is a schematic diagram of the positioning system provided in this embodiment. Figure 2This is a schematic diagram of the positioning system provided in this embodiment. Figure 1 and 2 As shown, the system includes: at least one first working vehicle 101, a second working vehicle 106, and at least two automatic total stations 103 and 109.

[0067] The second working vehicle 106 is equipped with at least two targets 104 and 107, each target is equipped with a prism, and the prisms 105 and 108 have the ability to reflect laser signals from the automatic total station 103 and 109.

[0068] According to the construction site drawings, automatic total stations 103 and 109 are set up along the work section, typically on the roadside. The coordinate initialization of the automatic total stations can be set according to the construction drawings, ensuring that each total station is positioned differently and clearly distinguishable to overcome positioning errors. The positions of the automatic total stations must ensure they can track the prism on the second work vehicle without being obstructed. The number of automatic total stations is the same as the number of prisms; each automatic total station tracks one prism to obtain its coordinates in the automatic total station coordinate system.

[0069] The automatic total station features dynamic prism tracking. Its internal motor powers the lens rotation and measures the coordinates of the moving prism in real time. As the second work vehicle moves, the prism's position changes synchronously, and the total station automatically tracks it, eliminating the need for manual lens adjustments and enabling fully unmanned operation. Each total station tracks a laser-reflecting prism on the second work vehicle, calculating its coordinates in real time and transmitting them to the second controller on the work vehicle via the total station's communication system. When there are two or more prisms, the second controller calculates the azimuth of the second work vehicle in the total station's coordinate system. The basic principle is that given the coordinates of two points, the angle between the vector formed by the line connecting those two points in the coordinate system can be calculated. This process enables high-precision positioning of the second work vehicle within the total station's coordinate system, achieving millimeter-level accuracy.

[0070] Furthermore, it can be seen that the coordinate values ​​of each target are the same as the coordinate values ​​of the prism set on it.

[0071] The first working vehicle 101 is equipped with a lidar 102, which is used to obtain the initial distance between the lidar and each target. The lidar is set at a height that allows it to scan the targets on the second working vehicle.

[0072] The first working vehicle 101 is also equipped with a first controller, which is connected to the automatic total station 109, 103 and the lidar 102 respectively, and is used to calculate the first position information of the first working vehicle based on the first distance and the coordinate value of each target.

[0073] In one possible implementation, multiple first working vehicles form a cluster. If there are at least three first working vehicles, and each first working vehicle is equipped with a target 110, then the lidar 102 installed on one of the first working vehicles can obtain the second distance between the lidar and the targets 110 on the other two first working vehicles. Similarly, the first controller installed on one of the first working vehicles can determine the second pose information of one of the first working vehicles based on the second distance and the first pose information of the other two first working vehicles.

[0074] This method can be used to obtain the pose information of one of the first working vehicles when it is far away from the second working vehicle, or when the target of the second working vehicle is blocked, or when one of the first working vehicles cannot use the target on the second working vehicle for positioning.

[0075] As one possible implementation, the second pose information can also be used to verify the first pose to determine whether the first pose information is a reasonable result. This redundant design can improve the stability and accuracy of the system.

[0076] In this embodiment, the first operating vehicle is an unmanned operating vehicle, such as a road roller. The vehicle includes:

[0077] Vehicle body;

[0078] LiDAR 102 is used to scan targets on other unmanned vehicles to obtain the initial distance between the LiDAR and the target. The LiDAR can be a single-line or multi-line LiDAR. The LiDAR is mounted on the top of the first operating vehicle at a height sufficient to fully scan targets on the second operating vehicle. If the vehicle's height is insufficient, a support bracket can be used. The LiDAR rotates and scans at a specific frequency to acquire information about the surrounding environment, collecting LiDAR data packets in real time, which are then input to the first controller in real time.

[0079] The first controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the method embodiments of this application.

[0080] In addition, the first working vehicle may also include a target 110, which is cylindrical and can be a long strip column with an arbitrary geometric shape such as a cylinder, square column, or triangular column, and is erected on the vehicle body; the surface of the target 110 is covered with a laser highly reflective material so that the laser radar can obtain a strong return signal when it scans the target.

[0081] In this embodiment, the second working vehicle is an unmanned working vehicle, such as a paver. The vehicle includes:

[0082] Vehicle body;

[0083] At least two targets, 107 and 104, are columnar, which can be long strips with any geometric shape such as cylinder, square prism, or triangular prism, and are erected on the vehicle body. The targets are made of a non-deformable material and are covered with a laser-reflective material so that the lidar can obtain a strong return signal when it scans the target.

[0084] Each target is topped with a prism 108 or 105, and the number of prisms is the same as the number of automatic total stations set up around the work section.

[0085] Furthermore, the second work vehicle may also include a second controller, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the method embodiments of this application.

[0086] The following example illustrates a collaborative working scenario involving pavers and a group of road rollers:

[0087] The paver is equipped with an industrial control computer, a construction planning information storage system, a paver path planning system, a paver motion control system, a communication system, and a roller dispatching system. The construction planning information consists of construction planning data measured before construction, including various data of the construction site and information such as the location of the automatic total station. The path planning system uses this construction planning information to plan the movement path of the paver.

[0088] Multiple road rollers equipped with unmanned control systems form an unmanned road roller group. Each road roller is equipped with lidar, target positioning system, and communication system to form a coordinated operation system between unmanned pavers and road rollers.

[0089] After receiving real-time position and orientation information of the paver group through the communication system, the paver's roller dispatch system, combined with construction planning information, assigns compaction tasks to each roller. The compaction tasks are then broadcast to each roller through the communication system. The principle of task allocation is: based on the road height in the planning information, the compaction tasks are first evenly distributed to ensure balanced compaction in each area.

[0090] The positioning method used by the system is no longer limited by GPS signals or specific infrastructure such as drainage ditches, and is applicable to various scenarios such as open roads, under bridges, and tunnels.

[0091] Based on the positioning system of the above embodiments, this embodiment provides a positioning method based on lidar, which is executed by the first controller of the first working vehicle. Figure 3 This is a flowchart of the positioning method provided in this embodiment. For example... Figure 3 As shown, the method includes the following steps:

[0092] S11, Obtain the coordinate values ​​of at least two targets set on the second working vehicle.

[0093] The coordinates of each target are the same as the coordinates of the prism set on the target. The coordinates of the prism are obtained by tracking the prism with a total station.

[0094] The first working vehicle communicates with the automatic total station or the second working vehicle to obtain the target's coordinates.

[0095] S12, obtain the first distance between the lidar and the target.

[0096] The lidar is mounted on the first working vehicle and rotates to scan at a specific frequency to acquire information about the surrounding environment. It collects lidar data packets in real time and extracts target point cloud data from the data packets based on the target's shape characteristics or high emissivity. The lidar then calculates the first distance between the lidar and the target based on the target point cloud data.

[0097] S13, determine the first pose information of the first working vehicle based on the first distance between at least two targets and the coordinate values ​​of the targets.

[0098] Given the first distance between at least two targets and the coordinates of the targets, calculate the first pose information of the first working vehicle in the coordinate system of the automatic total station using the triangulation method. The first pose information includes at least two-dimensional coordinates.

[0099] For example, at least two first distances are denoted as d1, d2, ..., d n The coordinates of at least two targets are represented as (x1, y1), (x2, y2), ..., (x... n ,y n Based on the triangulation method, the following system of equations is obtained regarding the first pose information (x, y):

[0100]

[0101] Subtracting the nth equation from the first n-1 equations sequentially yields the matrix AX = b;

[0102] in,

[0103] Solving the above matrix using the least squares method, i.e., finding the minimum value of the AX-b norm, is expressed as: Solving for X, we get X = (A T A) -1 A T b, Matrix X is used to represent the first pose information (x,y).

[0104] Based on the lidar target positioning, the two-dimensional coordinates of the first working vehicle can be obtained and calculated in real time, which facilitates dynamic control of the working route according to the working task.

[0105] The above method is applicable when the lidar and the target are relatively stationary. In practical applications, since the first working vehicle carrying the lidar and the second working vehicle carrying the target are in motion, and there is a time difference between scanning the first target and scanning the second target, ..., the Nth target when the lidar rotates to scan the target, the positions of the target and the lidar change during this time difference. Therefore, the obtained target point cloud data will have distortion caused by motion.

[0106] This embodiment, based on the above positioning method, details how to correct distortion in target point cloud data.

[0107] Distortion correction requires considering both the motion of the lidar and the target. First, the motion velocities of the lidar and the target are calculated separately. Then, this information is used to correct the distortion of the lidar point cloud frame. The lidar's motion velocity can be estimated using the target positioning results, while the target's motion velocity can be calculated using the target coordinates measured by an automatic total station.

[0108] Figure 4 This is a flowchart of the distortion correction method provided in this embodiment. For example... Figure 4 As shown, obtaining the first distance between the lidar and the target includes the following steps:

[0109] S121, acquire the target point cloud data of the current frame obtained by laser radar scanning the target.

[0110] Figure 5 This is a schematic diagram of the motion distortion of the second target scanned by the lidar in this embodiment.

[0111] like Figure 5 As shown, the location 203 of the lidar 20 is obtained based on the target point cloud data in the current frame.

[0112] S122, based on the target point cloud data in the current frame, obtain the first observation distance between the lidar and the target.

[0113] The first observation distance is the distance from the laser radar to each target extracted from a frame of target point cloud data. This distance has distortion errors that need to be corrected.

[0114] S123, the second observation distance is obtained by performing distortion correction on the first observation distance.

[0115] Based on the target point cloud data of the current frame, the moment when the lidar scans the first target is the first moment, and the first target is the first target scanned in the current frame. The moment when the lidar scans the second target is the second moment, and the second target is any other target besides the first target. There can be multiple second targets.

[0116] First, the first motion change vector 202 of the lidar 20 on the first working vehicle from the first moment to the second moment is obtained. Specifically, the previous frame of target point cloud data of the lidar scanning the first target is obtained to obtain the position 201 of the lidar; based on the previous frame of target point cloud data and the current frame of target point cloud data, the pose change T of the lidar within one frame is calculated. lidar =Pose i-1 -1 ×Pose i Among them, Pose i-1 -1 Pose is the inverse of the pose of the lidar in the total station coordinate system in the previous frame. i Let the pose of the lidar in the total station coordinate system be the current frame. Assuming the first working vehicle is moving at a constant speed, the moving speed of the lidar can be calculated based on the pose change. Calculate the time difference between the first moment and the second moment. Calculate the first motion change vector 202 based on the motion speed and the time difference.

[0117] Secondly, the first coordinate value 207 of the second target 21 at the first moment and the second coordinate value 205 at the second moment are obtained. The vector from the first coordinate value 207 to the second coordinate value 205 is the second motion change vector 206 of the second target. The first coordinate value 207 of the second target 21 at the first moment and the second coordinate value 205 at the second moment can be obtained by tracking and positioning with an automatic total station.

[0118] Based on the first observation distance 204, the first motion change vector 202, and the second motion change vector 206, the second observation distance 208 between the lidar and the second target at the first moment is determined.

[0119] The second observation distance is calculated using a vector representation: Second observation distance = First motion change vector + First observation distance - Second motion change vector.

[0120] S124, the second observation distance is determined as the first distance between the lidar and the target.

[0121] The second observation distance obtained after distortion correction is the actual distance between the second target and the lidar at the first moment.

[0122] Using the above method, the first observation distance of the target scanned at a later moment within a frame can be corrected to the second observation distance between the lidar and the actual position of the target at the first moment. The first distance, corrected for motion distortion, is then used in the above positioning method to calculate the first pose information of the first working vehicle. The positioning method combined with the distortion correction method in this embodiment is applicable to moving target conditions and can achieve high-precision target positioning.

[0123] To improve the stability and positioning accuracy of the system, this embodiment incorporates redundancy design based on the above method embodiments.

[0124] Specifically, the vertical rod supporting the lidar on each first working vehicle can be set as a cylindrical target with high laser reflectivity. After step S13, if there are at least three first working vehicles, the first pose information of each first working vehicle can be obtained. One of the first working vehicles obtains the second distance from the targets on the other two first working vehicles through the lidar installed on it; using triangulation, based on the second distance and the first pose information of the other two first working vehicles, the second pose information of one of the first working vehicles is determined.

[0125] The advantages of this embodiment are as follows: On the one hand, when any first working vehicle cannot be positioned using the target on the second working vehicle, it can be positioned using the targets on at least two first working vehicles within its field of vision; on the other hand, if any first working vehicle is positioned using the target on the second working vehicle, and at the same time is positioned using the targets on at least two first working vehicles within its field of vision, the two positioning results can be compared to verify whether the positioning result using the target on the second working vehicle is accurate.

[0126] Corresponding to the positioning method described in the above embodiments, Figure 6 This is a schematic diagram of the positioning device provided in one embodiment of this application. For ease of explanation, only the parts related to the embodiment of this application are shown.

[0127] like Figure 6 As shown, the lidar-based positioning device includes:

[0128] The first communication module 31 is used to acquire the coordinate values ​​of at least two targets set on the second working vehicle, wherein the coordinate value of each target is the same as the coordinate value of a prism set on the target, and the coordinate value of the prism is obtained by tracking the prism with a total station.

[0129] The second communication module 32 is used to obtain the first distance between the lidar and the target. The lidar is installed on the first working vehicle.

[0130] The pose calculation module 33 is used to determine the first pose information of the first working vehicle based on the first distance between at least two targets and the coordinate values ​​of the targets.

[0131] The positioning device can be integrated into the first controller of the first working vehicle, the controller of the second working vehicle, or other electronic devices with communication and computing capabilities.

[0132] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0133] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to 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 embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0134] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.

[0135] This application provides a computer program product that, when run on an electronic device, enables the electronic device to perform the steps described in the various method embodiments above.

[0136] 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, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a photographing device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0137] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0138] Those skilled in the art will recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art 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.

[0139] In the embodiments provided in this application, it should be understood that the disclosed apparatus / devices and methods can be implemented in other ways. For example, the apparatus / device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0140] The units described as separate components may or may not be physically separate. 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 the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0141] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A positioning method based on lidar, characterized in that, include: The coordinate values ​​of at least two targets set on the second working vehicle are obtained, wherein the coordinate value of each target is the same as the coordinate value of a prism set on the target, and the coordinate value of the prism is obtained by tracking the prism with a total station; The first distance between the lidar and the target is obtained, and the lidar is mounted on the first working vehicle; The first pose information of the first working vehicle is determined based on the first distance between at least two of the targets and the coordinate values ​​of the targets. After determining the first pose information of the first working vehicle, the process also includes: If there are at least three first working vehicles, one of the first working vehicles obtains the second distance to the targets on the other two first working vehicles through the lidar installed on it; Based on the second distance and the first pose information of the other two first working vehicles, the second pose information of one of the first working vehicles is determined.

2. The positioning method as described in claim 1, characterized in that, Obtaining the first distance between the lidar and the target includes: Obtain the current frame target point cloud data obtained by the lidar scanning the target; Based on the target point cloud data in the current frame, the first observation distance between the lidar and the target is obtained; The second observation distance is obtained by performing distortion correction on the first observation distance; The second observation distance is determined as the first distance between the lidar and the target.

3. The positioning method as described in claim 2, characterized in that, The second observation distance is obtained by performing distortion correction on the first observation distance, including: Obtain the first motion change vector of the first working vehicle from the first moment to the second moment; Obtain the first coordinate value of the second target at the first time and the second coordinate value at the second time, and the vector from the first coordinate value to the second coordinate value is the second motion change vector of the second target; Based on the first observation distance, the first motion change vector, and the second motion change vector, determine the second observation distance between the lidar and the second target at the first moment; Wherein, the first target is the first target scanned in the current frame, the first moment is the moment when the lidar scans the first target, the second target is the other targets besides the first target, there is at least one second target, and the second moment is the moment when the lidar scans the second target.

4. The positioning method as described in claim 3, characterized in that, Obtaining the first motion change vector of the first working vehicle from the first moment to the second moment includes: Obtain the target point cloud data of the previous frame of the laser radar scanning the first target; Based on the target point cloud data of the previous frame and the target point cloud data of the current frame, calculate the pose change of the lidar within one frame; The moving speed of the lidar is calculated based on the change in pose. Calculate the time difference between the first time point and the second time point; The first motion change vector is calculated based on the motion speed and the time difference.

5. A positioning device based on lidar, characterized in that, include: The first communication module is used to acquire the coordinate values ​​of at least two targets set on the second working vehicle, wherein the coordinate value of each target is the same as the coordinate value of a prism set on the target, and the coordinate value of the prism is obtained by tracking the prism with a total station. The second communication module is used to obtain the first distance between the lidar and the target, wherein the lidar is mounted on the first working vehicle; The pose calculation module is used to determine the first pose information of the first working vehicle based on the first distance between at least two of the targets and the coordinate values ​​of the targets. After determining the first pose information of the first working vehicle, the process also includes: If there are at least three first working vehicles, one of the first working vehicles obtains the second distance to the targets on the other two first working vehicles through the lidar installed on it; Based on the second distance and the first pose information of the other two first working vehicles, the second pose information of one of the first working vehicles is determined.

6. A positioning system based on lidar, characterized in that, include: At least one primary working vehicle, a secondary working vehicle, and at least two automatic total stations; The second working vehicle is equipped with at least two targets, each target is equipped with a prism, and the automatic total station is set in the working section. The number of automatic total stations is the same as the number of prisms. Each automatic total station is used to track one prism to obtain the coordinate value of the tracked prism. The coordinate value of each target is the same as the coordinate value of the prism set on it. Each of the first working vehicles is equipped with a lidar, which is used to obtain a first distance between the lidar and each of the targets; Each of the first working vehicles is also equipped with a first controller, which is communicatively connected to the automatic total station and the lidar, respectively, and is used to calculate the first pose information of the first working vehicle based on the first distance and the coordinate value of each target. After calculating the first pose information of the first working vehicle, the process also includes: If there are at least three first working vehicles, one of the first working vehicles obtains the second distance to the targets on the other two first working vehicles through the lidar installed on it; Based on the second distance and the first pose information of the other two first working vehicles, the second pose information of one of the first working vehicles is determined.

7. An unmanned operating vehicle, characterized in that, Applied to lidar positioning as described in claims 1-4, comprising: Vehicle body; At least two targets, which are columnar and erected on the vehicle body; Each target is topped with a prism, and the number of prisms is the same as the number of automatic total stations set up around the work section.

8. An unmanned operating vehicle, characterized in that, include: Vehicle body; A lidar is used to scan targets on other unmanned vehicles to obtain a first distance between the lidar and the target. A first controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method as described in any one of claims 1 to 4.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 4.

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