Displacement determination method and displacement determination system for sports equipment

Abstract

The invention discloses a displacement determination method and a displacement determination system for sports equipment. The method relates to the field of industrial equipment or other related fields, and comprises the following steps: obtaining distance data between a laser radar and motion equipment, the distance data comprising first distance data and second distance data; first displacement data are calculated according to the first distance data and the second distance data, second displacement data of the motion equipment are determined, the first displacement data are displacement data, collected by the laser radar, of the motion equipment, and the second displacement data are displacement data recognized by the motion equipment; and calculating a difference value between the second displacement data and the first displacement data to obtain a displacement difference value, updating the second displacement data according to the displacement difference value, and sending the updated displacement data to the client. According to the method and the device, the problem of low accuracy of determining the displacement data of the movement equipment during movement in the prior art is solved.

Description

Technical Field

[0001] The present application relates to the field of industrial equipment or other related fields, and in particular, to a method for determining the displacement of a moving device and a system for determining the displacement of a moving device. Background Art

[0002] With the acceleration of urbanization, the scale of urban high-voltage cable networks continues to expand. As an important channel for power transmission, the safe operation of cable tunnels is crucial to the stability of urban power systems. However, most cable tunnels are arranged underground and are mostly confined spaces. The underground environment is usually complex and changeable, and the signals of the global navigation satellite system cannot be covered, which brings great challenges to the inspection work. Manual inspection is not only inefficient, but also faces high safety risks for inspectors, and it is difficult to detect equipment damage in time. In addition, with the rapid growth of the number of cables, manual inspection has been unable to meet the growing inspection needs.

[0003] In order to improve inspection efficiency and safety, quadruped robots are used for inspection in the prior art. However, quadruped robots have low precision in movement and cannot meet the needs of precision inspection. In addition, quadruped robots have limited autonomous navigation capabilities in complex environments and cannot effectively cope with the changing environmental conditions in cable tunnels.

[0004] With respect to the problem of low accuracy in determining displacement data of a moving device during movement in the related art, no effective solution has been proposed so far. Summary of the invention

[0005] The main purpose of the present application is to provide a method for determining the displacement of a moving device and a system for determining the displacement of a moving device, so as to solve the problem of low accuracy in determining the displacement data of the moving device when it moves in the related art.

[0006] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a method for determining the displacement of a moving device is provided. The method comprises: obtaining the distance data between the laser radar and the moving device, wherein the distance data comprises the first distance data and the second distance data, the first distance data refers to the distance data between the laser radar and the moving device before the displacement, and the second distance data refers to the distance data between the laser radar and the moving device after the displacement; calculating the first displacement data according to the first distance data and the second distance data, and determining the second displacement data of the moving device, wherein the first displacement data refers to the displacement data of the moving device collected by the laser radar, and the second displacement data refers to the displacement data recognized by the moving device; calculating the difference between the second displacement data and the first displacement data to obtain the displacement difference, updating the second displacement data according to the displacement difference, and sending the updated displacement data to the client.

[0007] Furthermore, calculating the first displacement data based on the first distance data and the second distance data includes: acquiring the device data of the laser radar to obtain the radar device data; using the radar device data to calculate the distance between the moving device and the laser radar in the vertical direction to obtain the device distance data, and determining the first displacement data based on the device distance data.

[0008] Furthermore, the radar device data is used to calculate the distance between the moving device and the laser radar in the vertical direction to obtain the device distance data, and the first displacement data is determined according to the device distance data, including: acquiring the height data of the laser radar to obtain the radar height data; calculating the sum of the first distance data and the radar device data to obtain the first device data, and calculating the sum of the second distance data and the radar device data to obtain the second device data, wherein the first device data refers to the distance data between the center of the laser radar and the moving device before the displacement, and the first device data refers to the distance data between the center of the laser radar and the moving device after the displacement; calculating the first device data and the radar height data to obtain the first distance data, calculating the first device data and the radar height data to obtain the second distance data, and calculating the difference between the first distance data and the second distance data to obtain the first displacement data.

[0009] Furthermore, determining the second displacement data of the motion device includes: obtaining step length data and joint angle data of the motion device; performing trigonometric function calculations on the step length data and the joint angle data to obtain initial unit displacement data of the motion device; processing the initial unit displacement data using a filter to obtain unit displacement data; obtaining a displacement time period of the motion device, and calculating the second displacement data based on the displacement time period and the unit displacement data.

[0010] Furthermore, updating the second displacement data according to the displacement difference includes: obtaining a displacement threshold, and when the displacement difference is less than the displacement threshold, determining the second displacement data as the updated displacement data; when the displacement difference is greater than the displacement threshold, determining the first displacement data as the updated displacement data; when the displacement difference is equal to the displacement threshold, calculating the mean of the first displacement data and the second displacement data, and determining the mean as the updated displacement data.

[0011] Furthermore, before obtaining the distance data between the laser radar and the motion device, the method also includes: collecting time data of the laser beam sent by the laser radar, constructing a three-dimensional map according to the time data, and sending the three-dimensional map to the motion device.

[0012] In order to achieve the above-mentioned purpose, according to another aspect of the present application, a system for determining the displacement of a moving device is provided. The system includes: a laser radar, which is used to collect distance data of the moving device during the displacement process, calculate the first displacement data according to the first distance data and the second distance data, and send the first displacement data to a displacement processing module, wherein the distance data includes the first distance data and the second distance data, the first distance data refers to the distance data between the laser radar and the moving device before the displacement, and the second distance data refers to the distance data between the laser radar and the moving device after the displacement; the displacement processing module is used to obtain the first displacement data, determine and calculate the updated displacement data, and send the updated displacement data to the client.

[0013] Furthermore, the laser radar is also used to receive time data returned by the M laser beams sent, build a three-dimensional map according to the time data, and send the three-dimensional map to the motion device, where M is a positive integer.

[0014] According to another aspect of an embodiment of the present invention, a computer storage medium is provided. The computer storage medium is used to store a program. When the program is executed, the device where the computer storage medium is located is controlled to execute a method for determining the displacement of a moving device.

[0015] According to another aspect of an embodiment of the present invention, an electronic device is also provided, comprising one or more processors and a memory; the memory stores computer-readable instructions, and the processor is used to execute the computer-readable instructions, wherein a method for determining the displacement of a moving device is executed when the computer-readable instructions are executed.

[0016] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, a method for determining the displacement of a motion device is executed.

[0017] Through the present application, the following steps are adopted: obtaining distance data between a laser radar and a moving device, wherein the distance data includes first distance data and second distance data, the first distance data refers to the distance data between the laser radar and the moving device before displacement, and the second distance data refers to the distance data between the laser radar and the moving device after displacement; calculating first displacement data according to the first distance data and the second distance data, and determining second displacement data of the moving device, wherein the first displacement data refers to the displacement data of the moving device collected by the laser radar, and the second displacement data refers to the displacement data recognized by the moving device; calculating the difference between the second displacement data and the first displacement data to obtain the displacement difference, updating the second displacement data according to the displacement difference, and sending the updated displacement data to the client, thereby solving the problem of low accuracy of determining the displacement data of the moving device when moving in the related art, by determining the first displacement data of the moving device detected by the laser radar and the second displacement data determined by the moving device itself, and determining the updated displacement data according to the difference between the second displacement data and the first displacement data, thereby achieving the effect of improving the accuracy of determining the displacement data of the moving device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

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

[0020] Figure 2 is a schematic diagram of a method for determining first displacement data provided in an embodiment of the present application;

[0021] Figure 3 is a flow chart of an optional method for determining the displacement of a motion device provided in an embodiment of the present application;

[0022] Figure 4 is a schematic diagram of a displacement determination system for a sports device provided in an embodiment of the present application;

[0023] Figure 5 is a schematic diagram of a displacement determination device for a sports device provided in an embodiment of the present application;

[0024] Figure 6 is a schematic diagram of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] It should be noted that the relevant information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for display, data for analysis, etc.) involved in this disclosure are all information and data authorized by the user or fully authorized by all parties. For example, an interface is set between this system and the relevant user or organization. Before obtaining relevant information, it is necessary to send an acquisition request to the aforementioned user or organization through the interface, and obtain relevant information after receiving the consent information fed back by the aforementioned user or organization.

[0029] It should be noted that the collected information used in this application is information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data comply with the relevant laws, regulations and standards of the relevant regions, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation entrances for users to choose to authorize or refuse to use it.

[0030] The present invention is described below in conjunction with preferred implementation steps. Figure 1 is a flow chart of a method for determining the displacement of a motion device provided in an embodiment of the present application. Figure 1 As shown, the method comprises the following steps:

[0031] Step S101, obtaining distance data between the laser radar and the moving device, wherein the distance data includes first distance data and second distance data, the first distance data refers to the distance data between the laser radar and the moving device before displacement, and the second distance data refers to the distance data between the laser radar and the moving device after displacement.

[0032] Specifically, the motion device can be a quadruped robot device, and the laser radar can be a spherical directional target set in an underground environment. In order to calibrate the displacement data of the motion device, the distance data between the laser radar and the transportation equipment detected by the laser radar can be collected before and after the displacement of the motion device, and then the collected data can be used for position positioning.

[0033] Step S102, calculate the first displacement data according to the first distance data and the second distance data, and determine the second displacement data of the moving device, wherein the first displacement data refers to the displacement data of the moving device collected by the laser radar, and the second displacement data refers to the displacement data recognized by the moving device.

[0034] Specifically, since the first distance data refers to the distance between the two devices before the moving device is displaced, and the second distance data refers to the distance between the two devices after the moving device is displaced, in order to determine the displacement data monitored by the lidar, the above two data can be used for calculation to obtain the first displacement data, and then the second displacement data collected by the robot device is obtained, the first displacement data and the second displacement data are processed and analyzed to obtain accurate displacement data.

[0035] Step S103, calculating the difference between the second displacement data and the first displacement data to obtain the displacement difference, updating the second displacement data according to the displacement difference, and sending the updated displacement data to the client.

[0036] Optionally, in the displacement determination method of a motion device provided in an embodiment of the present application, updating the second displacement data according to the displacement difference includes: obtaining a displacement threshold, and when the displacement difference is less than the displacement threshold, determining the second displacement data as the updated displacement data; when the displacement difference is greater than the displacement threshold, determining the first displacement data as the updated displacement data; when the displacement difference is equal to the displacement threshold, calculating the average of the first displacement data and the second displacement data, and determining the average as the updated displacement data.

[0037] Specifically, when processing the first displacement data and the second displacement data, the difference between the two can be calculated first, that is, the displacement difference can be obtained. If the displacement difference is greater than the set error threshold, the first displacement data can be determined as the updated displacement data and sent to the staff; conversely, if the displacement difference is less than the displacement threshold, it indicates that the displacement of the motion device does not need to be calibrated and updated, and the second displacement data can be directly sent to the staff; if the above displacement difference is equal to the displacement threshold, the average of the first displacement data and the second displacement data can be calculated at this time, and the average can be used as the updated displacement data, and the data can be sent to the staff.

[0038] The method for determining the displacement of a moving device provided in an embodiment of the present application obtains distance data between a laser radar and the moving device, wherein the distance data includes first distance data and second distance data, the first distance data refers to the distance data between the laser radar and the moving device before the displacement, and the second distance data refers to the distance data between the laser radar and the moving device after the displacement; calculates first displacement data according to the first distance data and the second distance data, and determines second displacement data of the moving device, wherein the first displacement data refers to the displacement data of the moving device collected by the laser radar, and the second displacement data refers to the displacement data recognized by the moving device; calculates the difference between the second displacement data and the first displacement data to obtain the displacement difference, updates the second displacement data according to the displacement difference, and sends the updated displacement data to the client, thereby solving the problem of low accuracy of determining the displacement data of the moving device when moving in the related art, and determines the first displacement data of the moving device detected by the laser radar and the second displacement data determined by the moving device itself, and determines the updated displacement data according to the difference between the second displacement data and the first displacement data, thereby achieving the effect of improving the accuracy of determining the displacement data of the moving device.

[0039] Optionally, in the displacement determination method of a moving device provided in an embodiment of the present application, calculating the first displacement data based on the first distance data and the second distance data includes: acquiring device data of the laser radar to obtain radar device data; using the radar device data to calculate the distance between the moving device and the laser radar in a vertical direction to obtain device distance data, and determining the first displacement data based on the device distance data.

[0040] Specifically, the radar device data may refer to the radius data of the laser radar. When calculating the first displacement data, the radius data of the laser radar may be used to determine two distance data from the center of the laser radar to the motion device, and then the distance may be used to determine the distance between the motion device and the laser radar in the vertical direction, that is, to obtain the device distance data, and finally the displacement data collected by the laser radar may be determined based on the device distance data, thereby obtaining the first displacement data. This embodiment provides data support for obtaining a more accurate and reliable displacement result by calculating the displacement data using the first distance data and the second distance data.

[0041] Optionally, in the displacement determination method of the moving device provided in the embodiment of the present application, the radar device data is used to calculate the distance between the moving device and the laser radar in the vertical direction to obtain the device distance data, and determining the first displacement data based on the device distance data includes: acquiring the height data of the laser radar to obtain the radar height data; calculating the sum of the first distance data and the radar device data to obtain the first device data, and calculating the sum of the second distance data and the radar device data to obtain the second device data, wherein the first device data refers to the distance data between the center of the laser radar and the moving device before the displacement, and the first device data refers to the distance data between the center of the laser radar and the moving device after the displacement; calculating the first device data and the radar height data to obtain the first distance data, calculating the first device data and the radar height data to obtain the second distance data, and calculating the difference between the first distance data and the second distance data to obtain the first displacement data.

[0042] Specifically, in order to calculate the first displacement data, we can first calculate the radius data of the laser radar and the sum of the first distance data and the second distance data respectively to obtain the first device data and the second device data, and then use the Pythagorean theorem to calculate the device data and the height data of the laser radar to obtain the distance data corresponding to each device data, and finally use the difference between the two as the first displacement data.

[0043] For example, Figure 2 is a schematic diagram of a method for determining first displacement data according to an embodiment of the present application, such as Figure 2 As shown in the figure, when using the laser radar to calculate the displacement of the quadruped robot after 10 seconds, a coordinate system can be first established based on the quadruped robot, the forward direction of the quadruped robot is set as the x-axis, the left side of the robot dog is set as the y-axis, the height data of the laser radar is set to H, the radar equipment data, that is, the radius data, is R, the distance between the laser radar and the equipment before the quadruped robot sets out (that is, the first distance data) is L1, and the distance between the quadruped robot and the laser radar after 10 seconds (that is, the second distance data) is L2. When the right-angle side of L1 is set to L11 and the right-angle side of L2 is set to L22, the first distance data can be expressed as L1+R, and the second distance data can be expressed as L2+R.

[0044] We can further calculate based on the Pythagorean theorem and get Then the first displacement data is expressed as: x1=L11-L22. This embodiment can lay a foundation for determining an accurate displacement difference by calculating the first displacement data using the Pythagorean theorem.

[0045] Optionally, in the displacement determination method of the motion device provided in an embodiment of the present application, determining the second displacement data of the motion device includes: obtaining the step length data and joint angle data of the motion device; performing trigonometric function calculations on the step length data and the joint angle data to obtain initial unit displacement data of the motion device; processing the initial unit displacement data using a filter to obtain unit displacement data; obtaining the displacement time period of the motion device, and calculating the second displacement data based on the displacement time period and the unit displacement data.

[0046] Specifically, the second displacement data can be determined by a leg odometer. First, the step length data L and the joint angle data theta of the motion device can be obtained, and then these data can be used to calculate the initial unit displacement data of the motion device. Since the initial unit displacement data can be divided into dx and dy, at this time dx = L*sin(theta), dy = L*cos(theta). Since the joint angle data and step length data may be affected by noise or other factors, the Kalman filter can be used to process the above initial unit displacement data to obtain unit displacement data. Finally, the above unit displacement data is processed according to the displacement time period of the motion device to obtain the second displacement data. This embodiment uses a filter to process the displacement data of the motion device, thereby obtaining more accurate displacement data, laying the foundation for subsequent calibration of the displacement.

[0047] Optionally, in the displacement determination method of a moving device provided in an embodiment of the present application, before obtaining the distance data between the laser radar and the moving device, the method also includes: collecting time data of the laser beam sent by the laser radar, constructing a three-dimensional map based on the time data, and sending the three-dimensional map to the moving device.

[0048] Specifically, in order to ensure the smooth operation of the sports equipment, and the laser radar has a spherical shape characteristic, it can emit laser to the spherical target from any angle. At this time, the time data of the laser beam sent by the laser radar reflected back to the spherical target can be collected, and then a three-dimensional map can be constructed according to different time data, and the three-dimensional map can be sent to the sports equipment. It should be noted that the time data corresponding to the above laser beam can not only characterize the distance situation of the surrounding environment, but also determine the angle situation of different obstacles in the environment according to the laser beams at different angles.

[0049] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0050] The present application also provides a method for determining the displacement of a sports device. Figure 3 is a flow chart of an optional method for determining the displacement of a motion device provided in an embodiment of the present application. Figure 3 As shown, the method includes:

[0051] First, the first distance data collected by the laser radar when the robot dog is at the starting point is obtained. Then, after the robot dog moves, the laser radar collects the second distance data between the robot dog and the robot dog after displacement, and then the first displacement data is calculated by trigonometric function based on the above two distance data. At the same time, the step length data and joint angle data of the robot dog are obtained, and after denoising by using the Kalman filter, the step length data and joint angle data are calculated by trigonometric function to obtain the second displacement data. Finally, the first displacement data and the second displacement data are used for displacement calibration. When the displacement difference is less than the displacement threshold, the second displacement data is determined as the updated displacement data; when the displacement difference is greater than the displacement threshold, the first displacement data is determined as the updated displacement data; when the displacement difference is equal to the displacement threshold, the mean of the first displacement data and the second displacement data is calculated, and the mean is determined as the updated displacement data, and the updated displacement data is sent to the staff.

[0052] This embodiment determines the first displacement data of the moving device detected by the laser radar and the second displacement data determined by the moving device itself, and determines the updated displacement data through the difference between the second displacement data and the first displacement data, thereby achieving the effect of improving the accuracy of determining the displacement data of the moving device.

[0053] The embodiment of the present application also provides a system for determining the displacement of a moving device. The system for determining the displacement of a moving device in the embodiment of the present application can be used to execute the method for determining the displacement of a moving device provided in the embodiment of the present application. Figure 4 is a schematic diagram of a system for determining the displacement of a sports device provided in an embodiment of the present application. Figure 4 As shown, the system includes:

[0054] The laser radar 40 is used to collect distance data of the moving device during the displacement process, calculate the first displacement data according to the first distance data and the second distance data, and send the first displacement data to the displacement processing module 41, wherein the distance data includes the first distance data and the second distance data, the first distance data refers to the distance data between the laser radar 40 and the moving device before the displacement, and the second distance data refers to the distance data between the laser radar 40 and the moving device after the displacement.

[0055] Specifically, the laser radar 40 can be a spherical directional target set in an underground environment. In order to calibrate the displacement data of the moving equipment, the distance data between the laser radar 40 and the transportation equipment detected by the laser radar 40 can be collected before and after the displacement of the moving equipment, and then the collected data can be used for position positioning, that is, the first distance data and the second distance data of the moving equipment in the displacement process are collected, and the first displacement data is calculated using the data and then sent to the displacement processing module 41.

[0056] The displacement processing module 41 is used to obtain the first displacement data, determine and calculate the updated displacement data, and send the updated displacement data to the client.

[0057] Specifically, after receiving the first displacement data sent by the laser radar 40, the module can determine the second displacement data of the moving device, update the displacement data using the difference between the second displacement data and the first displacement data, that is, obtain the updated displacement data, and finally send it to the client.

[0058] The displacement determination system of the motion device provided in the embodiment of the present application is used to collect the distance data of the motion device during the displacement process through the laser radar 40, calculate the first displacement data according to the first distance data and the second distance data, and send the first displacement data to the displacement processing module 41, wherein the distance data includes the first distance data and the second distance data, the first distance data refers to the distance data between the laser radar 40 and the motion device before the displacement, and the second distance data refers to the distance data between the laser radar 40 and the motion device after the displacement; the displacement processing module 41 is used to obtain the first displacement data, determine and calculate the updated displacement data, and send the updated displacement data to the client, which solves the problem of low accuracy of determining the displacement data of the motion device when it is moving in the related art, determines the first displacement data of the detected motion device through the laser radar 40, obtains the second displacement data determined by the motion device itself by the displacement processing module 41, and determines the updated displacement data by the difference between the second displacement data and the first displacement data, thereby achieving the effect of improving the accuracy of determining the displacement data of the motion device.

[0059] Optionally, in the displacement determination system of the motion device provided in the embodiment of the present application, the laser radar 40 is also used to receive the time data returned by the M laser beams sent, build a three-dimensional map based on the time data, and send the three-dimensional map to the motion device, where M is a positive integer.

[0060] In order to ensure the smooth operation of the sports equipment, the laser radar 40 has a spherical shape and can emit laser to the spherical target from any angle. At this time, the time data of the laser beam sent by the laser radar 40 reflected back to the spherical target can be collected, and then a three-dimensional map can be constructed according to different time data, and the three-dimensional map can be sent to the sports equipment.

[0061] The present application also provides a displacement determination device for a sports device. It should be noted that the displacement determination device for a sports device in the present application can be used to execute the displacement determination method for a sports device provided in the present application. The following introduces the displacement determination device for a sports device provided in the present application.

[0062] Figure 5 is a schematic diagram of a displacement determination device for a sports device according to an embodiment of the present application, such as Figure 5 As shown, the device includes: an acquisition unit 50, a first calculation unit 51, and a second calculation unit 52.

[0063] An acquisition unit 50 is used to acquire distance data between the laser radar and the moving device, wherein the distance data includes first distance data and second distance data, the first distance data refers to the distance data between the laser radar and the moving device before displacement, and the second distance data refers to the distance data between the laser radar and the moving device after displacement;

[0064] A first calculation unit 51 is used to calculate first displacement data according to the first distance data and the second distance data, and determine second displacement data of the moving device, wherein the first displacement data refers to the displacement data of the moving device collected by the laser radar, and the second displacement data refers to the displacement data recognized by the moving device;

[0065] The second calculation unit 52 is used to calculate the difference between the second displacement data and the first displacement data to obtain the displacement difference, update the second displacement data according to the displacement difference, and send the updated displacement data to the client.

[0066] The displacement determination device of the motion device provided in the embodiment of the present application obtains the distance data between the laser radar and the motion device through the acquisition unit 50, wherein the distance data includes the first distance data and the second distance data, the first distance data refers to the distance data between the laser radar and the motion device before the displacement, and the second distance data refers to the distance data between the laser radar and the motion device after the displacement; the first calculation unit 51 calculates the first displacement data according to the first distance data and the second distance data, and determines the second displacement data of the motion device, wherein the first displacement data refers to the displacement data of the motion device collected by the laser radar, and the second displacement data refers to the displacement data recognized by the motion device; the second calculation unit 52 calculates the difference between the second displacement data and the first displacement data to obtain the displacement difference, updates the second displacement data according to the displacement difference, and sends the updated displacement data to the client, thereby solving the problem of low accuracy of determining the displacement data of the motion device when moving in the related art, by determining the first displacement data of the motion device detected by the laser radar and the second displacement data determined by the motion device itself, and determining the updated displacement data according to the difference between the second displacement data and the first displacement data, thereby achieving the effect of improving the accuracy of determining the displacement data of the motion device.

[0067] Optionally, in the displacement determination device of the moving device provided in the embodiment of the present application, the first calculation unit 51 includes: a first acquisition module, used to acquire the equipment data of the laser radar and obtain the radar equipment data; a first calculation module, used to use the radar equipment data to calculate the distance between the moving device and the laser radar in the vertical direction, obtain the equipment distance data, and determine the first displacement data based on the equipment distance data.

[0068] Optionally, in the displacement determination device of the motion device provided in the embodiment of the present application, the first calculation unit 51 includes: a second acquisition module, used to acquire the height data of the laser radar to obtain the radar height data; a second calculation module, used to calculate the sum of the first distance data and the radar equipment data to obtain the first equipment data, and calculate the sum of the second distance data and the radar equipment data to obtain the second equipment data, wherein the first equipment data refers to the distance data between the center of the laser radar and the motion device before the displacement, and the first equipment data refers to the distance data between the center of the laser radar and the motion device after the displacement; a third calculation module, used to calculate the first equipment data and the radar height data to obtain the first distance data, calculate the first equipment data and the radar height data to obtain the second distance data, and calculate the difference between the first distance data and the second distance data to obtain the first displacement data.

[0069] Optionally, in the displacement determination device of the motion device provided in the embodiment of the present application, the first calculation unit 51 includes: a third acquisition module, used to obtain the step length data and joint angle data of the motion device; a fourth calculation module, used to perform trigonometric function calculations on the step length data and the joint angle data to obtain initial unit displacement data of the motion device; a processing module, used to process the initial unit displacement data using a filter to obtain unit displacement data; a fourth acquisition module, used to obtain the displacement time period of the motion device, and calculate the second displacement data based on the displacement time period and the unit displacement data.

[0070] Optionally, in the displacement determination device of the motion equipment provided in the embodiment of the present application, the second calculation unit 52 includes: a fifth acquisition module, used to obtain a displacement threshold, and when the displacement difference is less than the displacement threshold, determine the second displacement data as the updated displacement data; a determination module, used to determine the first displacement data as the updated displacement data when the displacement difference is greater than the displacement threshold; a fifth calculation module, used to calculate the average of the first displacement data and the second displacement data when the displacement difference is equal to the displacement threshold, and determine the average as the updated displacement data.

[0071] Optionally, in the displacement determination device of a moving device provided in an embodiment of the present application, the device also includes: an acquisition unit, for collecting time data of a laser beam sent by the laser radar before obtaining distance data between the laser radar and the moving device, constructing a three-dimensional map based on the time data, and sending the three-dimensional map to the moving device.

[0072] The displacement determination device of the above-mentioned motion equipment includes a processor and a memory. The above-mentioned acquisition unit 50, first calculation unit 51, second calculation unit 52, etc. are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize corresponding functions.

[0073] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the problem of low accuracy in determining displacement data of a moving device when moving in the related art can be solved by adjusting kernel parameters.

[0074] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0075] An embodiment of the present invention provides a computer storage medium, which is used to store a program. When the program is running, the device where the computer storage medium is located is controlled to execute a method for determining the displacement of a motion device.

[0076] Figure 6 is a schematic diagram of an electronic device provided according to an embodiment of the present application, such as Figure 6 As shown, an embodiment of the present invention provides an electronic device, the electronic device 60 includes a processor, a memory, and a program stored in the memory and executable on the processor, the processor is used to execute computer-readable instructions, wherein the computer-readable instructions execute a method for determining the displacement of a moving device when they are executed. The device in this article can be a server, a PC, a PAD, a mobile phone, etc.

[0077] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of a method for determining the displacement of a motion device in each embodiment of the present application.

[0078] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0079] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0080] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0081] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0082] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0083] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0084] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0085] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0086] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for determining the displacement of a sports device, characterized in that: include: Acquire distance data between the laser radar and the moving device, wherein the distance data includes first distance data and second distance data, the first distance data refers to the distance data between the laser radar and the moving device before displacement, and the second distance data refers to the distance data between the laser radar and the moving device after displacement; Calculate first displacement data according to the first distance data and the second distance data, and determine second displacement data of the moving device, wherein the first displacement data refers to the displacement data of the moving device collected by the laser radar, and the second displacement data refers to the displacement data recognized by the moving device; A difference between the second displacement data and the first displacement data is calculated to obtain a displacement difference, the second displacement data is updated according to the displacement difference, and the updated displacement data is sent to the client.

2. The method according to claim 1, characterized in that Calculating first displacement data according to the first distance data and the second distance data includes: Acquire the device data of the laser radar to obtain radar device data; The radar device data is used to calculate the distance between the moving device and the laser radar in the vertical direction to obtain device distance data, and the first displacement data is determined according to the device distance data.

3. The method according to claim 2, characterized in that Calculating the distance between the moving device and the laser radar in a vertical direction by using the radar device data to obtain device distance data, and determining the first displacement data according to the device distance data includes: Acquire the height data of the laser radar to obtain radar height data; Calculate the sum of the first distance data and the radar device data to obtain first device data, and calculate the sum of the second distance data and the radar device data to obtain second device data, wherein the first device data refers to the distance data between the center of the laser radar and the moving device before displacement, and the first device data refers to the distance data between the center of the laser radar and the moving device after displacement; The first device data and the radar height data are calculated to obtain the first distance data, the first device data and the radar height data are calculated to obtain the second distance data, and the difference between the first distance data and the second distance data is calculated to obtain the first displacement data.

4. The method according to claim 1, characterized in that: Determining the second displacement data of the motion device includes: Acquiring step length data and joint angle data of the sports device; Performing trigonometric function calculation on the step length data and the joint angle data to obtain initial unit displacement data of the sports device; Processing the initial unit displacement data using a filter to obtain unit displacement data; A displacement time period of the sports device is acquired, and the second displacement data is calculated according to the displacement time period and the unit displacement data.

5. The method according to claim 1, characterized in that Updating the second displacement data according to the displacement difference includes: acquiring a displacement threshold, and determining the second displacement data as the updated displacement data when the displacement difference is less than the displacement threshold; In a case where the displacement difference is greater than the displacement threshold, determining the first displacement data as the updated displacement data; When the displacement difference is equal to the displacement threshold, the average of the first displacement data and the second displacement data is calculated, and the average is determined as the updated displacement data.

6. The method according to claim 1, characterized in that Before obtaining the distance data between the laser radar and the motion device, the method further includes: The time data of the laser beam sent by the laser radar is collected, a three-dimensional map is constructed according to the time data, and the three-dimensional map is sent to the motion device.

7. A system for determining the displacement of a sports device, characterized in that: include: A laser radar, used to collect distance data of the moving device during the displacement process, calculate first displacement data according to first distance data and second distance data, and send the first displacement data to a displacement processing module, wherein the distance data includes the first distance data and the second distance data, the first distance data refers to the distance data between the laser radar and the moving device before the displacement, and the second distance data refers to the distance data between the laser radar and the moving device after the displacement; The displacement processing module is used to obtain the first displacement data, determine and calculate the updated displacement data according to the displacement method of the sports device according to any one of claims 1-6, and send the updated displacement data to the client.

8. The system according to claim 7, characterized in that The laser radar is also used to receive time data returned by the M laser beams sent, construct a three-dimensional map according to the time data, and send the three-dimensional map to the motion device, where M is a positive integer.

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for determining the displacement of a sports device according to any one of claims 1 to 6 is implemented.

10. An electronic device, characterized in that: It includes one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the displacement determination method of the motion device described in any one of claims 1 to 6.

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