Positioning and navigation method, device and equipment for photovoltaic panel installation vehicle and medium

Abstract

The invention discloses a positioning and navigation method, device and equipment for a photovoltaic panel installation vehicle and a medium. The method comprises the following steps: determining a key positioning navigation point under a two-dimensional map plane coordinate system; according to the RTK coordinate system and a current key positioning navigation point in the key positioning navigation points, initializing a vehicle advancing position, and initializing equipment pose information; starting a correction timer, adjusting the advancing track according to the current position and posture of the equipment and the target path, performing position and posture correction by using RTK real-time data when the timing of the correction timer is greater than or equal to preset correction time, and enabling the correction timer to perform timing again; when it is detected that the next key positioning point is reached, RTK is used for collecting data in real time to update the current key positioning navigation point, and the operation of initializing the vehicle advancing position and initializing the equipment pose information is executed again till the vehicle advances to the navigation terminal point. According to the technical scheme of the embodiment of the invention, accurate positioning and navigation of the photovoltaic panel installation vehicle can be realized.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a positioning and navigation method, device, equipment and medium for a photovoltaic panel mounted vehicle. Background Art

[0002] With the maturity of photovoltaic power generation technology, more and more photovoltaic power plants are being built one after another. In order to ensure production capacity, photovoltaic power plants usually occupy an area of ​​more than dozens of square kilometers. At present, the installation of photovoltaic panels requires manual operation of the vehicle to walk to the front of the bracket to be installed, which wastes time and labor costs. The current mainstream positioning and navigation solutions in the field of highway autonomous driving are divided into RTK (Real time kinematic) positioning and SLAM (simultaneous localization and mapping) positioning.

[0003] RTK positioning data is easily interfered by electromagnetic interference, resulting in abnormal positioning data. In addition, photovoltaic plants are generally built in deserts, Gobi deserts and plateaus. The terrain in these places is undulating and has a great impact on the posture of the vehicle. Therefore, for safety and subsequent installation and alignment requirements, it is very necessary to accurately measure the posture information of the vehicle relative to the mounting bracket. However, RTK positioning technology lacks the use of posture information. Feature-based SLAM positioning can obtain the posture state of the vehicle relative to the bracket, but it is not suitable for photovoltaic plant installation scenarios with a single scene. A large number of repeated single features and long-term calculations can easily lead to positioning loss. Summary of the invention

[0004] The present invention provides a method, device, equipment and medium for positioning and navigating a photovoltaic panel installation vehicle, so as to solve the problem that the existing positioning method used in the photovoltaic panel installation scenario cannot accurately position and navigate the photovoltaic panel installation vehicle.

[0005] According to one aspect of the present invention, a method for positioning and navigating a photovoltaic panel installation vehicle is provided, comprising:

[0006] Align the positioning coordinate system and determine the key positioning navigation points in the two-dimensional map plane coordinate system;

[0007] Initialize the vehicle's travel position according to the RTK coordinate system and the current key positioning navigation point in the key positioning navigation point, and initialize the device's posture information based on the inertial measurement instrument data;

[0008] Start the calibration timer, adjust the trajectory according to the current position and target path of the device, and use RTK real-time data to perform position calibration when the calibration timer is greater than or equal to the preset calibration time, and reset the calibration timer;

[0009] When the detection reaches the next key positioning point, the RTK real-time acquisition data is used to update the current key positioning navigation point, and the operation of returning to initialize the vehicle's travel position and initialize the device's posture information based on the inertial measurement instrument data is performed until it reaches the navigation end point.

[0010] According to another aspect of the present invention, there is provided a positioning and navigation device for a photovoltaic panel installation vehicle, comprising:

[0011] The key navigation point determination module is used to align the positioning coordinate system and determine the key positioning navigation points in the two-dimensional map plane coordinate system;

[0012] The posture initialization module is used to initialize the vehicle's travel position according to the RTK coordinate system and the current key positioning navigation point in the key positioning navigation point, and initialize the device posture information based on the inertial measurement instrument data;

[0013] The first trajectory adjustment module is used to start the correction timer, adjust the trajectory according to the current posture of the device and the target path, and use the RTK real-time data to perform posture correction when the correction timer is greater than or equal to the preset correction time, and restart the correction timer;

[0014] The second travel trajectory adjustment module is used to use RTK real-time acquisition data to update the current key positioning navigation point when the detection reaches the next key positioning point, and return to execute the operation of initializing the vehicle's travel position and initializing the device's posture information based on the inertial measurement instrument data until it reaches the navigation end point.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the positioning and navigation method for a photovoltaic panel-mounted vehicle described in any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the positioning and navigation method for a photovoltaic panel installation vehicle described in any embodiment of the present invention when executed.

[0020] The technical solution of the embodiment of the present invention is to align the positioning coordinate system and determine the key positioning navigation points in the two-dimensional map plane coordinate system, thereby initializing the vehicle's travel position according to the RTK coordinate system and the current key positioning navigation points in the key positioning navigation points, and initializing the device posture information based on the inertial measurement instrument data, and then start the correction timer, adjust the travel trajectory according to the current posture of the device and the target path, and when the correction timer is greater than or equal to the preset correction time, use RTK real-time data to perform posture correction, and restart the correction timer, and further when it is detected that the next key positioning point has been reached, use RTK real-time acquisition data to update the current key positioning navigation point, and return to execute the operation of initializing the vehicle's travel position and initializing the device posture information based on the inertial measurement instrument data until it reaches the navigation end point. In this solution, multi-source positioning technology is integrated to avoid the poor positioning accuracy caused by electromagnetic interference and the topography of the photovoltaic plant, and to achieve autonomous positioning and navigation of photovoltaic panel installation vehicles in photovoltaic panel installation scenarios. The entire positioning and navigation process does not require manual operation, which improves work efficiency while reducing operating costs. It solves the problem that the existing positioning method used in photovoltaic panel installation scenarios cannot accurately position and navigate photovoltaic panel installation vehicles, and achieves accurate positioning and navigation of photovoltaic panel installation vehicles.

[0021] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 A flowchart of a method for positioning and navigating a photovoltaic panel installation vehicle provided in Embodiment 1 of the present invention;

[0024] Figure 2 A flowchart of a method for positioning and navigating a photovoltaic panel installation vehicle provided in Embodiment 2 of the present invention;

[0025] Figure 3 A schematic diagram of the structure of a photovoltaic panel installation vehicle provided in the second embodiment of the present invention;

[0026] Figure 4 A schematic diagram of a photovoltaic panel installation vehicle travel path provided in the second embodiment of the present invention;

[0027] Figure 5 A schematic diagram of the structure of a positioning and navigation device for a photovoltaic panel-mounted vehicle provided in Embodiment 3 of the present invention;

[0028] Figure 6 A schematic diagram of the structure of an electronic device that can be used to implement an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0030] It should be noted that the term "target" and the like 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 of their variations 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.

[0031] Embodiment 1

[0032] Figure 1 This is a flow chart of a method for positioning and navigating a photovoltaic panel installation vehicle provided in the first embodiment of the present invention. This embodiment can be applied to the situation of accurate navigation and positioning in the photovoltaic panel installation scenario. The method can be executed by a positioning and navigation device for a photovoltaic panel installation vehicle. The positioning and navigation device for a photovoltaic panel installation vehicle can be implemented in the form of hardware and / or software. The positioning and navigation device for a photovoltaic panel installation vehicle can be configured in an electronic device. Figure 1 As shown, the method includes:

[0033] Step 110: align the positioning coordinate system and determine the key positioning navigation points in the two-dimensional map plane coordinate system.

[0034] The two-dimensional map plane coordinate system may be the coordinate system of the two-dimensional map navigation plane of the photovoltaic panel installation vehicle. The key positioning navigation point may be the position of the key point in the photovoltaic panel installation vehicle's travel path in the two-dimensional map plane coordinate system.

[0035] In an embodiment of the present invention, the relevant coordinate systems used in the navigation and positioning of the photovoltaic panel installation vehicle can be aligned, and the key travel points of the photovoltaic panel installation vehicle can be further determined in the two-dimensional map plane coordinate system to obtain key positioning navigation points.

[0036] Optionally, the laser radar coordinate system, the RTK coordinate system and the two-dimensional map plane coordinate system may be aligned. Specifically, the laser radar coordinate system may be converted to the RTK coordinate system, and the RTK coordinate system may be converted to the two-dimensional map plane coordinate system.

[0037] Step 120: Initialize the vehicle's travel position according to the RTK coordinate system and the current key positioning navigation point in the key positioning navigation points, and initialize the device posture information based on the inertial measurement instrument data.

[0038] The current key positioning navigation point may be a navigation point among the key positioning navigation points for initializing the position of the photovoltaic panel installation vehicle. The inertial measurement instrument data may be the three-axis attitude information of the photovoltaic panel installation vehicle collected by the inertial measurement instrument on the photovoltaic panel installation vehicle. The device posture information may be data describing the coordinates and heading of the photovoltaic installation vehicle in three-dimensional space.

[0039] In an embodiment of the present invention, the current key positioning navigation point among the key positioning navigation points can be converted into the RTK coordinate system, so as to initialize the vehicle's moving position based on the current key positioning navigation point in the RTK coordinate system, and further collect inertial measurement instrument data based on the photovoltaic panel installed on the vehicle, and initialize the device posture information according to the inertial measurement instrument data.

[0040] Step 130, start the correction timer, adjust the travel trajectory according to the current posture of the device and the target path, and when the correction timer is greater than or equal to the preset correction time, use RTK real-time data to perform posture correction and restart the correction timer.

[0041] Among them, the correction timer can be a timer that records the time from the photovoltaic panel installation vehicle performing the current posture correction to the next round of posture correction. The preset correction time can be a preset time period for posture correction. Exemplarily, the preset correction time can be 1 second, and the specific duration can be set by oneself. The target path can be the path from the photovoltaic panel installation vehicle at the current initialization position to the position corresponding to the next key positioning navigation point. The longitudinal undulation degree of the target path can be determined by the terrain of the actual photovoltaic panel installation scene.

[0042] In an embodiment of the present invention, after the traveling position of the photovoltaic panel installation vehicle is initialized, the correction timer can be started, and the traveling trajectory of the photovoltaic panel installation vehicle can be adjusted according to the target path and the current posture of the device, so as to start from the current initialization position and travel along the target path, so that when it is monitored that the correction timer timing is greater than or equal to the preset correction time, the RTK real-time data is used to correct the posture of the photovoltaic panel installation vehicle, and after the posture correction is completed, the correction timer is used to re-time, so that when the preset correction time is reached again, the RTK real-time data is used to perform posture correction.

[0043] Step 140: When the detection reaches the next key positioning point, use RTK real-time data collection to update the current key positioning navigation point, and return to execute the operation of initializing the vehicle's moving position and initializing the device's posture information based on the inertial measurement instrument data until it reaches the navigation end point.

[0044] Among them, the next key positioning point can be the geographical coordinate position corresponding to the next positioning navigation point to which the photovoltaic panel installation vehicle is to travel after setting out from the geographical coordinate position corresponding to the current key positioning navigation point.

[0045] In an embodiment of the present invention, it is possible to detect in real time whether the photovoltaic panel installation vehicle has reached the next key positioning point. If it is detected that it has reached the next key positioning point, the RTK real-time acquisition data is used to update the current key positioning navigation point, and the operation of initializing the vehicle's travel position (specifically, initializing the vehicle's travel position based on the current key positioning navigation point updated using the RTK real-time acquisition data) and initializing the device's posture information based on the inertial measurement instrument data is performed until it reaches the navigation end point, that is, the travel end point of the photovoltaic panel installation vehicle.

[0046] The technical solution of the embodiment of the present invention is to align the positioning coordinate system and determine the key positioning navigation points in the two-dimensional map plane coordinate system, thereby initializing the vehicle's travel position according to the RTK coordinate system and the current key positioning navigation points in the key positioning navigation points, and initializing the device posture information based on the inertial measurement instrument data, and then start the correction timer, adjust the travel trajectory according to the current posture of the device and the target path, and when the correction timer is greater than or equal to the preset correction time, use RTK real-time data to perform posture correction, and restart the correction timer, and further when it is detected that the next key positioning point has been reached, use RTK real-time acquisition data to update the current key positioning navigation point, and return to execute the operation of initializing the vehicle's travel position and initializing the device posture information based on the inertial measurement instrument data until it reaches the navigation end point. In this solution, multi-source positioning technology is integrated to avoid the poor positioning accuracy caused by electromagnetic interference and the topography of the photovoltaic plant, and to achieve autonomous positioning and navigation of photovoltaic panel installation vehicles in photovoltaic panel installation scenarios. The entire positioning and navigation process does not require manual operation, which improves work efficiency while reducing operating costs. It solves the problem that the existing positioning method used in photovoltaic panel installation scenarios cannot accurately position and navigate photovoltaic panel installation vehicles, and achieves accurate positioning and navigation of photovoltaic panel installation vehicles.

[0047] Embodiment 2

[0048] Figure 2 This is a flowchart of a method for positioning and navigating a photovoltaic panel installation vehicle provided in the second embodiment of the present invention. This embodiment is specific based on the above embodiment and provides a specific optional implementation method for determining key positioning and navigation points in a two-dimensional map plane coordinate system. Figure 2 As shown, the method includes:

[0049] Step 210: align the positioning coordinate system and determine a two-dimensional navigation trajectory between the target starting point and the target ending point on the two-dimensional plane map.

[0050] The two-dimensional plane map may be a driving map of the photovoltaic panel installation vehicle under the two-dimensional plane map. The target starting point may be used to represent the driving starting point of the photovoltaic panel installation vehicle on the two-dimensional plane map. The target ending point is used to represent the driving end point of the photovoltaic panel installation vehicle on the two-dimensional plane map. The two-dimensional navigation track may be the navigation driving track of the photovoltaic panel installation vehicle under the two-dimensional plane map.

[0051] In an embodiment of the present invention, a two-dimensional plane map drawn based on information such as the location of the photovoltaic plant and the terrain around the photovoltaic plant can be obtained, so that after the positioning coordinate system is aligned, the starting position of the photovoltaic panel installation vehicle is further used as the target starting point at the point corresponding to the two-dimensional plane map, and the destination position to be reached by the photovoltaic panel installation vehicle is used as the target end point at the point corresponding to the two-dimensional plane map, thereby determining the two-dimensional navigation trajectory between the target starting point and the target end point on the two-dimensional plane map.

[0052] Step 220: Determine the key positioning navigation points in the two-dimensional map plane coordinate system according to the two-dimensional navigation trajectory and the number of key navigation points selected.

[0053] The number of key navigation points selected may be the number of navigation points of pre-set key positioning navigation points.

[0054] In an embodiment of the present invention, the number of key navigation points to be selected can be set in real time by a technician, and the number of key navigation points to be selected can also be configured in advance by default, so that in the two-dimensional navigation trajectory, a number of positioning navigation points of key navigation points can be selected to obtain the key positioning navigation points in the two-dimensional map plane coordinate system.

[0055] In an optional embodiment of the present invention, determining the key positioning navigation points in the two-dimensional map plane coordinate system according to the two-dimensional navigation trajectory and the number of key navigation points selected can include: determining the upper and lower height limits of the two-dimensional navigation vertical direction according to the two-dimensional navigation trajectory; determining the key positioning intermediate navigation points according to the number of key navigation points selected, the upper and lower height limits of the two-dimensional navigation vertical direction; and using the key positioning intermediate navigation points, the target starting point and the target ending point as key positioning navigation points.

[0056] The upper limit height value may be the height value of the highest point in the vertical direction of the two-dimensional navigation track in the two-dimensional map plane coordinate system. The lower limit height value may be the height value of the lowest point in the vertical direction of the two-dimensional navigation track in the two-dimensional map plane coordinate system. The key positioning intermediate navigation point may be a key positioning navigation point in the two-dimensional navigation track other than the target starting point and the target ending point.

[0057] In an embodiment of the present invention, the two-dimensional navigation trajectory can be parsed to obtain the upper and lower height limits of the two-dimensional navigation in the vertical direction, thereby determining the number of key positioning intermediate navigation points other than the target starting point and the target ending point according to the number of key navigation points selected, thereby selecting key positioning intermediate navigation points with the largest possible spacing and including the highest and / or lowest longitudinal points from the two-dimensional navigation trajectory based on the number of key positioning intermediate navigation points and the upper and lower height limits of the two-dimensional navigation in the vertical direction, thereby using the key positioning intermediate navigation points, the target starting point and the target ending point as key positioning navigation points.

[0058] Step 230: Initialize the vehicle's travel position according to the RTK coordinate system and the current key positioning navigation point in the key positioning navigation points, and initialize the device posture information based on the inertial measurement instrument data.

[0059] In an optional embodiment of the present invention, initializing the vehicle's travel position according to the RTK coordinate system and the current key positioning navigation point in the key positioning navigation points may include: calculating the position conversion matrix between the RTK coordinate system and the two-dimensional map plane coordinate system based on the three-point method; determining the current key navigation point coordinates in the RTK coordinate system according to the current key two-dimensional navigation point coordinates of the current key positioning navigation point and the position conversion matrix; and initializing the vehicle's travel position according to the current key navigation point coordinates.

[0060] The position conversion matrix may be a transformation matrix between the RTK coordinate system and the two-dimensional map plane coordinate system. The current key navigation point coordinates may be the coordinates of the current key positioning navigation point in the two-dimensional map plane coordinate system.

[0061] In an embodiment of the present invention, the three-point method can be used to calculate the position transformation matrix for the conversion between the RTK coordinate system and the two-dimensional map plane coordinate system, and then the position transformation matrix can be used to transform the current key two-dimensional navigation point coordinates of the current key positioning navigation point into the RTK coordinate system to obtain the current key navigation point coordinates, and then based on the current key navigation point coordinates, the vehicle's moving position is initialized.

[0062] Step 240, start the correction timer, adjust the travel trajectory according to the current posture of the device and the target path, and when the correction timer is greater than or equal to the preset correction time, use RTK real-time data to perform posture correction and reset the correction timer.

[0063] In an optional embodiment of the present invention, adjusting the travel trajectory according to the current posture of the device and the target path may include: calculating the travel deviation data between the current posture of the device and the target path; inputting the travel deviation data into the underlying control module to obtain travel adjustment data, and adjusting the travel trajectory according to the travel adjustment data.

[0064] The traveling deviation data may be data describing the deviation of the traveling position and heading of the photovoltaic panel installation vehicle. The underlying control module may be a module for determining the traveling direction and speed of the device. Optionally, the underlying control module may be an existing module in the field of autonomous driving. The traveling adjustment data may be data instructing the photovoltaic panel installation vehicle to adjust its traveling behavior.

[0065] In an embodiment of the present invention, the travel deviation data can be calculated from the two dimensions of position and heading based on the current posture of the device and the target path, so that the travel deviation data can be input into the underlying control module to generate travel adjustment data through the underlying control module, and then based on the travel adjustment data, the travel trajectory of the photovoltaic panel installation vehicle can be adjusted.

[0066] In an optional embodiment of the present invention, using RTK real-time data for posture correction may include: when the RTK real-time data is a non-fixed solution type, performing posture correction based on inertial measurement instrument data and lidar point cloud data; when the RTK real-time data is a fixed solution type, performing posture correction based on the RTK real-time data.

[0067] The non-fixed solution type may include a floating point solution or a single point solution.

[0068] In an embodiment of the present invention, the status data of the solution of the RTK real-time data can be identified. When the RTK real-time data is a non-fixed solution type, the dead reckoning is performed by fusing the inertial measurement instrument data with the lidar point cloud data, and the reckoning result is used to correct the posture of the photovoltaic panel installation vehicle. When the RTK real-time data is a fixed solution type, the RTK real-time data is directly used for posture correction.

[0069] In an optional embodiment of the present invention, posture correction is performed based on inertial measurement instrument data and lidar point cloud data, which may include: determining the current two adjacent frames of point cloud data collected by the lidar; pre-integrating the inertial measurement instrument data according to the target intermediate moment of the current two adjacent frames of point cloud data to obtain real-time posture change information, and performing posture correction based on the real-time posture change information.

[0070] The current two adjacent frames of point cloud data may be the two adjacent frames of point cloud data currently collected by the laser radar. The target intermediate time may be the intermediate time between the collection times corresponding to the current two adjacent frames of point cloud data. The real-time posture change information may be the posture information corresponding to the integral result of data pre-integration of the inertial measurement instrument data using the target intermediate time of the current two adjacent frames of point cloud data and the posture transformation matrix.

[0071] In an embodiment of the present invention, the laser radar can collect the current two adjacent frames of point cloud data, and then use the ICP algorithm (nearest point search method) to match the current two adjacent frames of point cloud data, further calculate the posture transformation matrix, and based on the target intermediate moment of the current two adjacent frames of point cloud data and the posture transformation matrix, pre-integrate the inertial measurement instrument data to obtain real-time posture change information, so as to perform posture correction based on the real-time posture change information.

[0072] Step 250: When the detection reaches the next key positioning point, use RTK real-time data collection to update the current key positioning navigation point, and return to execute the operation of initializing the vehicle's moving position and initializing the device's posture information based on the inertial measurement instrument data until it reaches the navigation end point.

[0073] In a specific example, the positioning and navigation method of a photovoltaic panel installation vehicle can be applied to a photovoltaic panel installation vehicle equipped with a laser radar, an RTK real-time data receiving antenna, and an inertial measurement instrument to achieve autonomous positioning and navigation of the photovoltaic panel installation vehicle, solving the problem of poor positioning and navigation accuracy of the photovoltaic panel installation vehicle when operating in a photovoltaic plant with a monotonous scene, a large coverage area, and uneven terrain. The structure of the photovoltaic panel installation vehicle can be found in Figure 3 .

[0074] RTK data receiving device, laser radar and inertial measurement instrument are installed on the body of the photovoltaic panel installation vehicle: RTK is used to receive satellite positioning data, inertial measurement instrument is used to obtain body posture information, and laser radar is used to scan the installation bracket around the photovoltaic panel installation vehicle to the point cloud data of the surrounding environment. The RTK positioning data is combined with the two-dimensional plane map of the photovoltaic power plant to obtain the position information of the photovoltaic panel installation vehicle relative to the photovoltaic panel installation bracket, and the laser radar point cloud data is combined with the inertial measurement instrument data to calculate the current posture information of the photovoltaic panel installation vehicle relative to the installation bracket. In order to better illustrate the operation steps, it is assumed that the photovoltaic panel installation vehicle needs to move from the starting point S0 to S n , the path to be walked is Figure 4 As shown, the specific steps are as follows:

[0075] Step 1: Alignment of map coordinate system: Convert the laser radar coordinate system to the RTK coordinate system, and convert the RTK coordinate system to the 2D map plane coordinate system. Select at least 3 key positioning navigation points on the 2D plane map, and make sure the distance between each key positioning navigation point is as large as possible. Measure the coordinates of the key positioning navigation points in the RTK coordinate system and match them with the 2D map plane coordinate system.

[0076] Step 2: The photovoltaic panel is installed on the vehicle at position S0, and the position is initialized with RTK real-time data. At the same time, the inertial measurement instrument data is obtained and the posture information is initialized, and the correction timer is started. The correction timer duration is recorded as T1.

[0077] Step 3: The photovoltaic panel installation vehicle goes to the next key positioning point, calculates the travel deviation data between the current posture of the equipment and the target path, and transmits the travel deviation data to the underlying control module to adjust the walking trajectory. At the same time, the laser radar scans the surrounding environment in real time to obtain point cloud data.

[0078] Step 4: Determine whether time T1 is greater than or equal to the preset calibration time. If so, use RTK real-time data to calibrate the inertial measurement instrument (the calibration algorithm uses the extended Kalman filter algorithm), and reset T1 and restart the timing. If not, continue to determine whether time T1 is greater than or equal to the preset calibration time.

[0079] Step 5: Determine whether the status of RTK real-time data is a floating point solution or a single point solution. If yes, use the inertial measurement instrument fusion laser radar method to perform dead reckoning: use the ICP algorithm to align the current two adjacent frames of point cloud data, calculate the pose change matrix, and pre-integrate the inertial measurement instrument data at the middle moment of obtaining the current two adjacent frames of point cloud data to obtain real-time pose change information. If no, continue to perform the following steps.

[0080] Step 6: Determine whether the next key positioning point has been reached. If yes, use RTK real-time data to initialize the pose data. If no, continue with Step 4, Step 5 and Step 6.

[0081] Step 7: Determine whether the arrival point is the end point S n If yes, send an "end" command to the control end to stop moving. If no, repeat Step 3, Step 4, Step 5, and Step 6.

[0082] The technical solution of the embodiment of the present invention is to align the positioning coordinate system and determine the two-dimensional navigation trajectory between the target starting point and the target ending point in the two-dimensional plane map, so as to determine the key positioning navigation points in the two-dimensional map plane coordinate system according to the two-dimensional navigation trajectory and the number of key navigation points selected, and then initialize the vehicle's travel position according to the RTK coordinate system and the current key positioning navigation point in the key positioning navigation points, and initialize the device posture information based on the inertial measurement instrument data, further start the correction timer, adjust the travel trajectory according to the current posture of the device and the target path, and when the correction timer is greater than or equal to the preset correction time, use RTK real-time data to perform posture correction, and restart the correction timer, when it is detected that the next key positioning point is reached, use RTK real-time acquisition data to update the current key positioning navigation point, and return to execute the operation of initializing the vehicle's travel position and initializing the device posture information based on the inertial measurement instrument data until it reaches the navigation end point. In this solution, multi-source positioning technology is integrated to avoid the poor positioning accuracy caused by electromagnetic interference and the topography of the photovoltaic plant, and to achieve autonomous positioning and navigation of photovoltaic panel installation vehicles in photovoltaic panel installation scenarios. The entire positioning and navigation process does not require manual operation, which improves work efficiency while reducing operating costs. It solves the problem that the existing positioning method used in photovoltaic panel installation scenarios cannot accurately position and navigate photovoltaic panel installation vehicles, and achieves accurate positioning and navigation of photovoltaic panel installation vehicles.

[0083] Embodiment 3

[0084] Figure 5 This is a schematic diagram of the structure of a photovoltaic panel installation vehicle positioning and navigation device provided in the third embodiment of the present invention. Figure 5 As shown, the device comprises:

[0085] The key navigation point determination module 310 is used to align the positioning coordinate system and determine the key positioning navigation points in the two-dimensional map plane coordinate system;

[0086] A posture initialization module 320 is used to initialize the vehicle's travel position according to the RTK coordinate system and the current key positioning navigation point in the key positioning navigation point, and to initialize the device posture information based on the inertial measurement instrument data;

[0087] The first trajectory adjustment module 330 is used to start a correction timer, adjust the trajectory according to the current posture of the device and the target path, and use RTK real-time data to perform posture correction when the correction timer is greater than or equal to a preset correction time, and restart the correction timer;

[0088] The second travel trajectory adjustment module 340 is used to use RTK real-time data collection to update the current key positioning navigation point when the detection reaches the next key positioning point, and return to execute the operation of initializing the vehicle's travel position and initializing the device's posture information based on the inertial measurement instrument data until it reaches the navigation end point.

[0089] The technical solution of the embodiment of the present invention is to align the positioning coordinate system and determine the key positioning navigation points in the two-dimensional map plane coordinate system, thereby initializing the vehicle's travel position according to the RTK coordinate system and the current key positioning navigation points in the key positioning navigation points, and initializing the device posture information based on the inertial measurement instrument data, and then start the correction timer, adjust the travel trajectory according to the current posture of the device and the target path, and when the correction timer is greater than or equal to the preset correction time, use RTK real-time data to perform posture correction, and restart the correction timer, and further when it is detected that the next key positioning point has been reached, use RTK real-time acquisition data to update the current key positioning navigation point, and return to execute the operation of initializing the vehicle's travel position and initializing the device posture information based on the inertial measurement instrument data until it reaches the navigation end point. In this solution, multi-source positioning technology is integrated to avoid the poor positioning accuracy caused by electromagnetic interference and the topography of the photovoltaic plant, and to achieve autonomous positioning and navigation of photovoltaic panel installation vehicles in photovoltaic panel installation scenarios. The entire positioning and navigation process does not require manual operation, which improves work efficiency while reducing operating costs. It solves the problem that the existing positioning method used in photovoltaic panel installation scenarios cannot accurately position and navigate photovoltaic panel installation vehicles, and achieves accurate positioning and navigation of photovoltaic panel installation vehicles.

[0090] Optionally, the key navigation point determination module 310 is specifically used to determine the two-dimensional navigation trajectory between the target starting point and the target ending point in the two-dimensional map plane coordinate system; determine the key positioning navigation points in the two-dimensional map plane coordinate system based on the two-dimensional navigation trajectory and the number of key navigation points selected.

[0091] Optionally, the key navigation point determination module 310 is specifically used to determine the upper and lower height limits of the two-dimensional navigation vertical direction according to the two-dimensional navigation trajectory; determine the key positioning intermediate navigation points according to the number of key navigation points selected, the upper and lower height limits of the two-dimensional navigation vertical direction; and use the key positioning intermediate navigation points, the target starting point and the target ending point as the key positioning navigation points.

[0092] Optionally, the first travel trajectory adjustment module 330 is specifically used to calculate the travel deviation data between the current posture of the device and the target path; input the travel deviation data into the underlying control module to obtain travel adjustment data, and adjust the travel trajectory according to the travel adjustment data.

[0093] Optionally, the first travel trajectory adjustment module 330 is specifically used to perform posture correction based on the inertial measurement instrument data and the lidar point cloud data when the RTK real-time data is a non-fixed solution type; when the RTK real-time data is a fixed solution type, perform posture correction based on the RTK real-time data.

[0094] Optionally, the first travel trajectory adjustment module 330 is specifically used to determine the current two adjacent frames of point cloud data collected by the laser radar; according to the target intermediate moment of the current two adjacent frames of point cloud data, pre-integrate the inertial measurement instrument data to obtain real-time posture change information, and perform posture correction based on the real-time posture change information.

[0095] Optionally, the posture initialization module 320 is specifically used to calculate the position transformation matrix between the RTK coordinate system and the two-dimensional map plane coordinate system based on the three-point method; determine the current key navigation point coordinates in the RTK coordinate system according to the current key two-dimensional navigation point coordinates of the current key positioning navigation point and the position transformation matrix; and initialize the vehicle's moving position according to the current key navigation point coordinates.

[0096] The photovoltaic panel installation vehicle positioning and navigation device provided in the embodiment of the present invention can execute the photovoltaic panel installation vehicle positioning and navigation method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0097] Embodiment 4

[0098] Figure 6 A schematic diagram of an electronic device that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0099] like Figure 6As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0100] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0101] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the positioning and navigation method of a photovoltaic panel installation vehicle.

[0102] In some embodiments, the positioning and navigation method of the photovoltaic panel installation vehicle can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the positioning and navigation method of the photovoltaic panel installation vehicle described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the positioning and navigation method of the photovoltaic panel installation vehicle in any other appropriate manner (for example, by means of firmware).

[0103] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0104] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0105] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0106] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0107] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0108] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of traditional physical hosts and VPS servers, which are difficult to manage and have weak business scalability.

[0109] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0110] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for positioning and navigating a photovoltaic panel installation vehicle, characterized in that: include: Align the positioning coordinate system and determine the key positioning navigation points in the two-dimensional map plane coordinate system; Initialize the vehicle's travel position based on the real-time dynamic positioning technology RTK coordinate system and the current key positioning navigation points in the key positioning navigation points, and initialize the device's posture information based on the inertial measurement instrument data; Start the correction timer, adjust the travel trajectory according to the current posture of the device and the target path, and when the correction timer is greater than or equal to the preset correction time, use the RTK real-time data to perform posture correction and restart the correction timer; When the detection reaches the next key positioning point, the RTK real-time acquisition data is used to update the current key positioning navigation point, and the operation of initializing the vehicle's moving position and initializing the device's posture information based on the inertial measurement instrument data is returned until the navigation end point is reached.

2. The method according to claim 1, characterized in that Determine the key positioning and navigation points in the two-dimensional map plane coordinate system, including: Determine a two-dimensional navigation trajectory between a target starting point and a target end point on a two-dimensional plane map; According to the two-dimensional navigation trajectory and the number of key navigation points selected, the key positioning navigation points in the two-dimensional map plane coordinate system are determined.

3. The method according to claim 2, characterized in that Determining the key positioning navigation points in the two-dimensional map plane coordinate system according to the two-dimensional navigation trajectory and the number of key navigation points selected includes: Determine an upper limit height value and a lower limit height value in a vertical direction of the two-dimensional navigation according to the two-dimensional navigation trajectory; Determine the key positioning intermediate navigation point according to the number of key navigation points selected, the upper limit height value and the lower limit height value of the vertical direction of the two-dimensional navigation; The key positioning intermediate navigation point, the target starting point and the target ending point are used as the key positioning navigation points.

4. The method according to claim 1, characterized in that: Adjust the trajectory according to the current position and target path of the device, including: Calculating the travel deviation data between the current posture of the device and the target path; The travel deviation data is input into the bottom control module to obtain travel adjustment data, and the travel trajectory is adjusted according to the travel adjustment data.

5. The method according to claim 1, characterized in that Use RTK real-time data for posture correction, including: When the RTK real-time data is of a non-fixed solution type, performing posture correction based on the inertial measurement instrument data and the laser radar point cloud data; When the RTK real-time data is of a fixed solution type, posture correction is performed based on the RTK real-time data.

6. The method according to claim 5, characterized in that Based on the inertial measurement instrument data and the laser radar point cloud data, posture correction is performed, including: Determine the current two adjacent frames of point cloud data collected by the laser radar; According to the target intermediate time of the two adjacent frames of point cloud data, the inertial measurement instrument data is pre-integrated to obtain real-time posture change information, and posture correction is performed based on the real-time posture change information.

7. The method according to claim 1, characterized in that Initialize the vehicle's travel position according to the RTK coordinate system and the current key positioning navigation point in the key positioning navigation point, including: Calculate the position conversion matrix between the RTK coordinate system and the two-dimensional map plane coordinate system based on the three-point method; Determine the coordinates of the current key navigation point in the RTK coordinate system according to the current key two-dimensional navigation point coordinates of the current key positioning navigation point and the position conversion matrix; Initialize the vehicle's travel position according to the current key navigation point coordinates.

8. A positioning and navigation device for a photovoltaic panel mounted vehicle, characterized in that: include: The key navigation point determination module is used to align the positioning coordinate system and determine the key positioning navigation points in the two-dimensional map plane coordinate system; The posture initialization module is used to initialize the vehicle's travel position according to the real-time dynamic positioning technology RTK coordinate system and the current key positioning navigation point in the key positioning navigation point, and initialize the device posture information based on the inertial measurement instrument data; The first travel trajectory adjustment module is used to start a correction timer, adjust the travel trajectory according to the current posture of the device and the target path, and use RTK real-time data to perform posture correction when the correction timer is greater than or equal to a preset correction time, and restart the correction timer; The second travel trajectory adjustment module is used to use RTK real-time acquisition data to update the current key positioning navigation point when the detection reaches the next key positioning point, and return to execute the operation of initializing the vehicle's travel position and initializing the device's posture information based on the inertial measurement instrument data until it reaches the navigation end point.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the positioning and navigation method for a photovoltaic panel installation vehicle according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the positioning and navigation method for a photovoltaic panel installation vehicle according to any one of claims 1 to 7 when executed.

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