Equipment navigation method and equipment based on laser radar and storage medium

Abstract

The invention discloses a device navigation method and device based on a laser radar and a storage medium, and the device navigation method based on the laser radar comprises the steps: carrying out the point cloud data collection of a target recognition region, and obtaining an environment point cloud; respectively extracting points belonging to the at least two positioning tutoring parts from the environment point cloud to obtain a target part point cloud; performing vertical straight line fitting and horizontal straight line fitting on the point cloud of the target component, and selecting mutually parallel vertical straight lines from vertical straight line fitting results corresponding to the at least two positioning tutoring components to obtain a reference straight line; acquiring a horizontal straight line corresponding to each reference straight line, and performing straight line fitting again based on the point cloud corresponding to the horizontal straight line to obtain a comprehensive horizontal straight line; and calculating a coordinate corresponding to the target working position based on an intersection point between the reference straight line and the comprehensive horizontal straight line. The coordinate accuracy of the target working position can be ensured, the calculation process is simple and efficient, and the navigation positioning efficiency of equipment is improved.

Description

Technical Field

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

[0002] In recent years, mobile robots have developed rapidly in the industrial field, making great contributions to the release of productivity and the improvement of efficiency.

[0003] When a mobile robot is performing a task, such as moving objects in a warehouse, accurate positioning technology is particularly critical. The mobile robot needs to accurately identify its own position in a changing environment to ensure accurate execution of the task. At the same time, it needs to determine the position and posture of the shelf to achieve automatic docking of the shelf.

[0004] How to improve the navigation capability of mobile robots is a challenge faced by related fields. Summary of the invention

[0005] The present application at least provides a laser radar-based device navigation method, device and storage medium.

[0006] In a first aspect, the present application provides a device navigation method based on laser radar, the method comprising: in response to a mobile device entering a target identification area, collecting point cloud data of the target identification area to obtain an environmental point cloud; wherein at least two positioning guidance components are deployed relative to a target working position in the target identification area, and the two positioning guidance components are deployed along a straight line and parallel to each other; extracting points belonging to the at least two positioning guidance components from the environmental point cloud respectively to obtain target component point clouds corresponding to the at least two positioning guidance components respectively; performing vertical straight line fitting and horizontal straight line fitting on the target component point clouds corresponding to the at least two positioning guidance components respectively, and selecting mutually parallel vertical straight lines from the vertical straight line fitting results corresponding to the at least two positioning guidance components respectively to obtain a reference straight line; wherein the vertical straight line corresponds to at least one mutually perpendicular horizontal straight line, and the vertical straight line is perpendicular to the straight line deployment direction corresponding to the at least two positioning guidance components; obtaining the horizontal straight line corresponding to each reference straight line respectively, re-performing straight line fitting based on the point cloud corresponding to the horizontal straight line to obtain a comprehensive horizontal straight line; calculating the coordinates corresponding to the target working position based on the intersection between the reference straight line and the comprehensive horizontal straight line, and controlling the movement of the mobile device using the coordinates corresponding to the target working position.

[0007] In one embodiment, points belonging to at least two positioning guidance components are respectively extracted from the environmental point cloud to obtain target component point clouds corresponding to the at least two positioning guidance components, including: obtaining preset appearance parameters and deployment positions of the at least two positioning guidance components; generating point cloud filter boxes corresponding to the at least two positioning guidance components based on the appearance parameters and deployment positions of the at least two positioning guidance components; and determining the point clouds in the environmental point cloud that fall into the point cloud filter boxes to obtain target component point clouds corresponding to the at least two positioning guidance components.

[0008] In one embodiment, point clouds in the environment point cloud that fall into a point cloud filtering box are determined to obtain target component point clouds corresponding to at least two positioning guidance components, including: determining the straight edge corresponding to the point cloud filtering box based on the vertices of the point cloud filtering box; detecting whether the point in the environment point cloud is on the straight edge based on the position coordinate relationship between two vertices corresponding to the straight edge and the point in the environment point cloud, and if so, adding the point in the environment point cloud to the candidate point cloud set; if not on the straight edge, detecting whether the point in the environment point cloud is in the point cloud filtering box based on the intersection relationship between the laser beam line segment corresponding to the point in the environment point cloud and the straight edge, and if so, adding the point in the environment point cloud to the candidate point cloud set; based on the points in the candidate point cloud set, obtaining target component point clouds corresponding to at least two positioning guidance components.

[0009] In one embodiment, point clouds falling into a point cloud screening box in an environment point cloud are determined to obtain target component point clouds corresponding to at least two positioning guidance components, including: determining point clouds falling into a point cloud screening box in an environment point cloud to obtain candidate point cloud sets corresponding to at least two positioning guidance components; clustering the candidate point cloud sets corresponding to at least two positioning guidance components based on the spacing between points to obtain point cloud clusters corresponding to at least two positioning guidance components; and screening the point cloud clusters corresponding to at least two positioning guidance components based on the number of points in each point cloud cluster to obtain target component point clouds corresponding to at least two positioning guidance components.

[0010] In one embodiment, a target component point cloud is composed of one or more point cloud clusters; vertical straight line fitting and horizontal straight line fitting are performed on the target component point clouds corresponding to at least two positioning guidance components, respectively, including: for the target component point cloud corresponding to any positioning guidance component, obtaining any point cloud cluster in the target component point cloud to obtain a point cloud cluster to be fitted; filtering a first preset number of points before and after the point cloud cluster to be fitted to obtain a filtered point cloud cluster; selecting a second preset number of points before and after the filtered point cloud cluster, and performing straight line fitting to obtain a first straight line and a second straight line; detecting whether the first straight line and the second straight line are perpendicular to each other, and if the first straight line and the second straight line are perpendicular to each other, taking the first straight line and the second straight line as a vertical straight line and a horizontal straight line, respectively.

[0011] In one embodiment, the method further includes: if the first straight line and the second straight line are not perpendicular to each other, calculating the intersection point between the first straight line and the second straight line; screening the points in the filtered point cloud cluster whose distances from the intersection point are greater than a first distance threshold, and selecting points from the screened points whose distances from the first straight line and the second straight line are less than a second distance threshold, respectively, to obtain a first point set and a second point set; re-performing straight line fitting on the first point set and the second point set, respectively, to obtain a new first straight line and a new second straight line; detecting whether the new first straight line and the new second straight line are perpendicular to each other, and if the new first straight line and the new second straight line are perpendicular to each other, taking the new first straight line and the new second straight line as a vertical straight line and a horizontal straight line, respectively.

[0012] In one embodiment, vertical lines parallel to each other are respectively selected from the vertical line fitting results corresponding to at least two positioning guidance components to obtain a reference line, including: calculating the spacing between the at least two positioning guidance components based on the deployment positions of the at least two positioning guidance components to obtain an actual spacing; detecting whether the vertical lines respectively fitted by the at least two positioning guidance components are parallel to each other, and if so, calculating the straight-line distance between the vertical lines fitted by the at least two positioning guidance components; detecting whether the difference between the straight-line distance and the actual spacing is less than a preset difference threshold, and if so, using the vertical lines respectively fitted by the at least two positioning guidance components as reference lines.

[0013] In one embodiment, the coordinates corresponding to the target working position are calculated based on the intersection between the reference straight line and the integrated horizontal straight line, including: obtaining the relative position relationship between at least two positioning guidance components and the target working position; and, based on the intersection between each reference straight line and the integrated horizontal straight line, calculating the coordinates of the at least two positioning guidance components, and calculating the orientation of the at least two positioning guidance components based on the angle between each reference straight line and the integrated horizontal straight line; based on the coordinates and orientation of the at least two positioning guidance components and the relative position relationship between the at least two positioning guidance components and the target working position, calculating the coordinates corresponding to the target working position.

[0014] In one embodiment, the orientations of at least two positioning guidance components are obtained based on the angle calculation of each reference line and the integrated horizontal line, including: obtaining the perpendicular line of each reference line and obtaining the direction vector of the integrated horizontal line; and obtaining the weighted parameter between the perpendicular line of each reference line and the direction vector of the integrated horizontal line based on the ratio between the number of point clouds corresponding to each reference line and the number of point clouds corresponding to the integrated horizontal line; and performing weighted summation calculation on the perpendicular line of each reference line and the direction vector of the integrated horizontal line using the weighted parameter to obtain the orientations of at least two positioning guidance components.

[0015] The second aspect of the present application provides a device navigation device based on laser radar, the device comprising: a point cloud acquisition module, for responding to a mobile device entering a target recognition area, collecting point cloud data of the target recognition area to obtain an environmental point cloud; wherein at least two positioning guidance components are deployed in the target recognition area relative to the target working position, and the two positioning guidance components are deployed along a straight line and parallel to each other; a point cloud extraction module, for extracting points belonging to at least two positioning guidance components from the environmental point cloud, respectively, to obtain target component point clouds corresponding to at least two positioning guidance components; a straight line selection module, for performing vertical straight line fitting on the target component point clouds corresponding to at least two positioning guidance components, respectively. A straight line fitting module is used to obtain the horizontal straight line corresponding to each reference straight line, and re-fit the straight line based on the point cloud corresponding to the horizontal straight line to obtain a comprehensive horizontal straight line; a coordinate calculation module is used to calculate the coordinates corresponding to the target working position based on the intersection between the reference straight line and the comprehensive horizontal straight line, and use the coordinates corresponding to the target working position to control the movement of the mobile device.

[0016] A third aspect of the present application provides an electronic device, including a memory and a processor, wherein the processor is used to execute program instructions stored in the memory to implement the above-mentioned laser radar-based device navigation method.

[0017] A fourth aspect of the present application provides a computer-readable storage medium having program instructions stored thereon, which implement the above-mentioned laser radar-based device navigation method when the program instructions are executed by a processor.

[0018] The above scheme acquires the environmental point cloud by collecting the point cloud data of the target recognition area; extracts the points belonging to at least two positioning guidance components from the environmental point cloud respectively, and obtains the target component point clouds corresponding to the at least two positioning guidance components respectively; performs vertical line fitting and horizontal line fitting on the target component point clouds corresponding to the at least two positioning guidance components respectively, and selects mutually parallel vertical lines from the vertical line fitting results corresponding to the at least two positioning guidance components respectively to obtain the reference line; obtains the horizontal line corresponding to each reference line, and re-performs the line fitting based on the point cloud corresponding to the horizontal line to obtain the comprehensive horizontal line; calculates the coordinates corresponding to the target working position based on the intersection between the reference line and the comprehensive horizontal line, so as to calculate the coordinates of the target working position through the vertical line and the horizontal line of each positioning guidance component, thereby ensuring the accuracy of the coordinates of the target working position, and the calculation process is simple and efficient, thereby improving the navigation and positioning efficiency of the equipment.

[0019] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0021] Figure 1 is a schematic diagram of a solution implementation environment shown in an exemplary embodiment of the present application; Figure 2 is a flow chart of a laser radar-based device navigation method shown in an exemplary embodiment of the present application; Figure 3 is a schematic diagram of a positioning guidance component shown in an exemplary embodiment of the present application; Figure 4 is a schematic diagram of a straight line fitting result shown in an exemplary embodiment of the present application; Figure 5 is a block diagram of a device navigation apparatus based on laser radar shown in an exemplary embodiment of the present application; Figure 6 is a schematic structural diagram of an electronic device shown in an exemplary embodiment of the present application; Figure 7 It is a schematic diagram of the structure of a computer-readable storage medium shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0022] The scheme of the embodiment of the present application is described in detail below in conjunction with the drawings of the specification.

[0023] In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures, interfaces, and technologies are provided to facilitate a thorough understanding of the present application.

[0024] The term "and / or" in this article is only an association information describing the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the previous and next associated objects are in an "or" relationship. In addition, "many" in this article means two or more than two. In addition, the term "at least one" in this article means any combination of at least two of any one or more of a plurality of, for example, including at least one of A, B, and C, can mean including any one or more elements selected from the set consisting of A, B, and C.

[0025] The following is a description of the laser radar-based device navigation method provided in an embodiment of the present application.

[0026] Please refer to Figure 1 , Figure 1 1 is a schematic diagram of a solution implementation environment shown in an exemplary embodiment of the present application. The solution implementation environment may include a mobile device 110 and a server 120, and the mobile device 110 and the server 120 are in communication connection with each other.

[0027] The mobile device 110 may be an industrial robot, an automatic guided vehicle (AGV), a sweeping robot, etc., which is not limited in the present application.

[0028] The mobile device 110 is loaded with a laser radar to scan environmental information through the laser radar. For example, Figure 1 The mobile device 110 is equipped with laser radars on the top of the device and at the positions of the two fork tips, and the laser radars are used to scan environmental information.

[0029] Of course, the mobile device 110 may also include a mobile chassis, which includes a motion controller, a motor, a battery, an embedded computer, an odometer, etc., which is not limited in this application.

[0030] Server 120 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers. It can also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDN), as well as big data and artificial intelligence platforms.

[0031] In one example, the server 120 may perform positioning and identification on the environmental point cloud obtained from the mobile device 110 to obtain coordinates corresponding to the target work position, and the server 120 may transmit the coordinates corresponding to the target work position back to the mobile device 110 to enable the mobile device 110 to perform navigation movement.

[0032] In one example, a client of a target application is installed and running in the mobile device 110. For example, the target application may be an application that provides positioning and navigation functions. The target application is used to locate and identify the acquired environmental point cloud to obtain the coordinates corresponding to the target working position for navigation and movement. The server 120 may be a background server of the target application, which is used to provide background services for the client of the target application.

[0033] In the laser radar-based device navigation method provided in the embodiment of the present application, the execution subject of each step can be the mobile device 110, such as the client of the target application installed and running in the mobile device 110, or the server 120, or the mobile device 110 and the server 120 interact and cooperate to execute, that is, part of the steps of the method are executed by the mobile device 110 and the other steps are executed by the server 120.

[0034] It should be noted that the laser radar-based device navigation method of the present application can be applied to any navigation scenario, such as the shelf docking scenario of an industrial robot, the floor cleaning scenario of a cleaning robot, etc., and the present application does not limit this.

[0035] Taking the shelf docking scenario as an example, the target working position is the lifting center corresponding to the shelf where the goods to be transported are located. The mobile device 110 uses the installed laser radar to scan the environmental contours of walls, work machines, shelves, building supports, etc. in the workshop, warehouse and other environments to build an environmental map used for navigation for motion navigation. Specifically, the mobile device 110 uses the odometer to estimate the amount of change during the movement, and uses one or more laser radars installed on the mobile device 110 to scan the environmental contours and match them with the grid map for accurate positioning and navigation. After detecting that the mobile device 110 has entered the target recognition area, the relevant parameters of the positioning guidance component are extracted to calculate the position of the positioning guidance component. After calculating the lifting center using the position of the positioning guidance component, the mobile device 110 adjusts its own navigation trajectory and navigates to the lifting center through the odometer to lift the goods in the shelf.

[0036] See also Figure 2 , Figure 2 is a flowchart of a laser radar-based device navigation method shown in an exemplary embodiment of the present application. The laser radar-based device navigation method can be applied to Figure 1 It should be understood that the method can also be applied to other exemplary implementation environments and be specifically executed by devices in other implementation environments, and this embodiment does not limit the implementation environment to which the method is applicable.

[0037] like Figure 2 As shown, the laser radar-based device navigation method includes at least steps S210 to S250, which are described in detail as follows: Step S210: In response to the mobile device entering the target recognition area, point cloud data is collected for the target recognition area to obtain an environmental point cloud.

[0038] Wherein, at least two positioning guidance components are arranged in the target recognition area relative to the target working position, and the two positioning guidance components are arranged along a straight line and parallel to each other.

[0039] The positioning guidance component is used to help the mobile device to perform positioning, and the positioning guidance component can be a component with a preset shape.

[0040] For example, see Figure 3 , Figure 3 is a schematic diagram of a positioning guidance component shown in an exemplary embodiment of the present application, such as Figure 3 As shown, the positioning guidance component is a limiting structure for limiting the mobile device, specifically a left limiting structure and a right limiting structure, which are deployed relative to the target working position, and the left limiting structure and the right limiting structure are deployed along a straight line and parallel to each other.

[0041] Of course, in addition to Figure 3 In addition to the positioning guidance components shown, other types of components may also be used as positioning guidance components, as long as the two positioning guidance components are arranged along a straight line and are parallel to each other.

[0042] The target identification area contains a target working position and at least two positioning guidance components arranged relative to the target working position.

[0043] Among them, the target recognition area can be pre-divided based on experience, such as taking the target working position as the center of the circle and dividing the area with a radius of r as the target recognition area corresponding to the target working position; the target recognition area can also be flexibly divided according to the current actual scene.

[0044] For example, based on the environmental perception capability of the mobile device, and / or the degree of occlusion corresponding to the target work position (e.g., the smaller the distance between the shelf where the target work position is located and other shelves, the higher the degree of occlusion), etc., the size of the target recognition area is flexibly calculated, so as to divide the target recognition area. For example, the weaker the environmental perception capability of the mobile device, and / or the higher the degree of occlusion corresponding to the target work position, the larger the target recognition area that needs to be divided, and vice versa, the smaller the target recognition area that needs to be divided.

[0045] After the mobile device obtains the target working position, if it is detected that the mobile device is not currently in the target identification area corresponding to the target working position, it can first navigate to the target identification area, such as navigating to the target identification area through an odometer and a laser radar. After detecting that the mobile device enters the target identification area, point cloud data is collected for the target identification area to obtain an environmental point cloud corresponding to the target identification area.

[0046] Optionally, after detecting that the mobile device has entered the target identification area, component parameters of the positioning guidance component are also obtained, and the component parameters include but are not limited to appearance parameters and deployment positions. For example, component parameters include the length, width, depth of the positioning guidance component, the distance between other positioning guidance components, and the positional relationship between the target working position, etc. The above component parameters can be pre-stored in the database according to the actual deployment situation to facilitate subsequent positioning calculations. It should be noted that the above-obtained target working position, deployment position, and positional relationship are the positions and positional relationships relative to the map coordinate system.

[0047] Optionally, in a docking scenario, in addition to obtaining the target working position of the docking point (such as a shelf), the mobile device also needs to obtain the orientation angle of the docking point, such as obtaining the orientation angle of the shelf, to improve docking accuracy.

[0048] Step S220: extracting points belonging to at least two positioning guidance components from the environment point cloud respectively, and obtaining target component point clouds corresponding to the at least two positioning guidance components respectively.

[0049] After obtaining the environment point cloud, the points in the environment point cloud that belong to the positioning guidance components are screened, and the target component point clouds corresponding to each positioning guidance component are obtained respectively.

[0050] Exemplarily, the points in the environment point cloud may be clustered, and a cluster result whose shape is closest to the shape of the positioning guidance component may be selected from each cluster result, and the cluster result may be used as the target component point cloud corresponding to the positioning guidance component.

[0051] Exemplarily, a point cloud filter box corresponding to each positioning guidance component can be set according to the appearance parameters, deployment position, etc. of each positioning guidance component, and the point cloud belonging to each positioning guidance component can be filtered according to the point cloud filter box to obtain the target component point cloud corresponding to each positioning guidance component.

[0052] Of course, the above two embodiments may also be combined to screen the target component point cloud corresponding to the positioning guidance component, and this application does not limit this.

[0053] Step S230: performing vertical line fitting and horizontal line fitting on the target component point clouds corresponding to at least two positioning guidance components respectively, and selecting mutually parallel vertical lines from the vertical line fitting results corresponding to at least two positioning guidance components respectively to obtain reference lines.

[0054] The vertical straight line corresponds to at least one mutually perpendicular horizontal straight line, and the vertical straight line is perpendicular to the straight line deployment direction corresponding to at least two positioning guidance components.

[0055] Vertical line fitting and horizontal line fitting are performed on the target component point clouds corresponding to at least two positioning guidance components respectively to obtain the vertical lines and horizontal lines corresponding to the positioning guidance components. It should be noted that one vertical line is associated with at least one horizontal line, and the associated vertical lines and horizontal lines are perpendicular to each other, that is, through vertical line fitting and horizontal line fitting, multiple vertical line and horizontal line pairs that are perpendicular to each other can be obtained.

[0056] For the vertical straight lines obtained by fitting each positioning guidance component, vertical straight lines parallel to each other between each positioning guidance component are used as reference straight lines.

[0057] For example, see Figure 4 , Figure 4 is a schematic diagram of a straight line fitting result shown in an exemplary embodiment of the present application, such as Figure 4 As shown, the positioning guidance components include a left limit structure and a right limit structure. Vertical line fitting and horizontal line fitting are performed on the target component point clouds corresponding to the left limit structure and the right limit structure respectively. Vertical lines parallel to each other are selected from the vertical line fitting results corresponding to the left limit structure and the right limit structure respectively, and the reference lines include line ml and line mr.

[0058] Step S240: Obtain the horizontal straight line corresponding to each reference straight line, and re-perform straight line fitting based on the point cloud corresponding to the horizontal straight line to obtain a comprehensive horizontal straight line.

[0059] After obtaining the reference straight lines, obtain the horizontal straight lines associated with each reference straight line, and obtain the point cloud corresponding to each associated horizontal straight line. Re-fit the straight lines based on these point clouds, and use the fitted straight lines as the comprehensive horizontal straight lines uniformly corresponding to each reference straight line.

[0060] For example, Figure 4 In the figure, according to the point cloud of the horizontal line corresponding to each reference line, the comprehensive horizontal line mh is finally fitted.

[0061] Step S250: Based on the intersection of the reference straight line and the integrated horizontal straight line, the coordinates corresponding to the target working position are calculated, and the mobile device is controlled to move using the coordinates corresponding to the target working position.

[0062] After obtaining the reference straight line and the comprehensive horizontal straight line, the position of each positioning guidance component in the environmental point cloud can be accurately known according to the intersection between the reference straight line and the comprehensive horizontal straight line. Then, combined with the relative position relationship between the positioning guidance component and the target working position, the coordinates of the target working position can be calculated to control the movement of the mobile device according to the coordinates corresponding to the target working position.

[0063] It should be noted that the coordinates corresponding to the target working position calculated in step S250 are generally coordinates relative to the vehicle body coordinate system, so that the mobile device can navigate and move in the vehicle body coordinate system.

[0064] The present application pre-deploys multiple positioning guidance components, and uses the vertical and horizontal lines of each positioning guidance component to calculate the coordinates of the target working position during the subsequent recognition process, thereby ensuring the accuracy of the coordinates of the target working position, and the calculation process is simple and efficient, thereby improving the navigation and positioning efficiency of the equipment.

[0065] Next, some embodiments of the present application are described in detail.

[0066] In some implementations, in step S220, points belonging to at least two positioning guidance components are extracted from the environment point cloud to obtain target component point clouds corresponding to the at least two positioning guidance components, including: Step S221: Obtaining preset appearance parameters and deployment positions of at least two positioning guidance components.

[0067] The appearance parameters include but are not limited to the preset length, width, and height of the positioning guidance component, and the deployment position may be the deployment coordinates stored in the database after the positioning guidance component is deployed.

[0068] Step S222: generating point cloud filter boxes corresponding to at least two positioning guidance components respectively based on the appearance parameters and deployment positions of at least two positioning guidance components.

[0069] For example, a point cloud filter box is generated at the deployment coordinates, and the size of the point cloud filter box is determined based on the length, width, and height preset by the positioning guidance component.

[0070] Step S223: determining the point clouds in the environment point cloud that fall into the point cloud screening box, and obtaining the target component point clouds corresponding to at least two positioning guidance components.

[0071] The point clouds in the point cloud screening box in the environment point cloud are judged to obtain the target component point clouds corresponding to each positioning guidance component respectively.

[0072] Taking the shelf docking scenario as an example, a left limit structure and a right limit structure are deployed at the lifting center (target working position) of the shelf. The point cloud filtering box is calculated based on the length, width, docking depth and lifting center of the left limit structure and the right limit structure.

[0073] Specifically, if the ideal position coordinates of the lifting center obtained by the mobile device in the map coordinate system are , then Convert to the vehicle coordinate system. For the specific conversion formula, see the following formula 1: (Formula 1) in, Represents the position of the mobile device relative to the map coordinate system. Indicates the position of the lifting center in the vehicle coordinate system.

[0074] And, the environmental point cloud is converted to the vehicle body coordinate system. If the environmental point cloud collected by multiple laser radars is used, the environmental point cloud collected by each laser radar is converted to the vehicle body coordinate system according to the corresponding laser external parameters, and the laser point cloud is reordered according to the angle of each cluster of point clouds in the vehicle body coordinate system to obtain the point cloud to be screened. The angle of the i-th cluster of point clouds is The calculation method of is shown in the following formula 2: (Formula 2) in, represents the ordinate of point cloud i in the vehicle coordinate system, Represents the horizontal coordinate of point cloud i in the vehicle body coordinate system.

[0075] In addition, the center positions of the left limit structure and the right limit structure are calculated respectively. For specific calculation methods, see the following formulas 3 and 4: (Formula 3) (Formula 4) in, Indicates the center position of the left limit structure; Indicates the center position of the right limit structure; It represents the position of the lifting center in the vehicle coordinate system; Lw represents the distance between the deployment positions of the left limit structure and the right limit structure; W represents the width of the left limit structure and the right limit structure respectively; L represents the length of the left limit structure and the right limit structure respectively; Ld represents the docking depth of the left limit structure and the right limit structure respectively.

[0076] Taking the two-dimensional laser radar as an example, after obtaining the center positions of the left limit structure and the right limit structure, , Centered on and is the point cloud filter box, where is the proportionality coefficient.

[0077] Optionally, the proportionality coefficient can be pre-set based on experience, such as a value of the proportionality coefficient greater than 1.2 and less than 2.5; the proportionality coefficient can also be flexibly calculated according to actual scenarios, such as calculating the distance between a mobile device and a positioning guidance component, and setting the size of the proportionality coefficient based on the distance between the mobile device and the positioning guidance component. For example, the distance between the mobile device and the positioning guidance component is directly proportional to the size of the proportionality coefficient, so as to generate point cloud filtering boxes corresponding to the positioning guidance components based on the proportionality coefficient, the preset appearance parameters and deployment position of the positioning guidance component, thereby improving the accuracy of point cloud filtering.

[0078] It is determined whether the point cloud to be screened falls into the point cloud screening box to obtain the target component point clouds corresponding to each positioning guidance component.

[0079] Exemplarily, in step S223, point clouds in the environment point cloud that fall into the point cloud screening box are determined to obtain target component point clouds corresponding to at least two positioning guidance components, including: Step S2231: Determine the straight line edges corresponding to the point cloud filter box based on the vertices of the point cloud filter box.

[0080] The four vertices of the point cloud filter box are converted to the vehicle body coordinate system. The four vertices of the point cloud filter box are recorded as p1, p2, p3 and p4 respectively. The straight line edge is constructed using the four vertices in the order of p1-p2, p2-p3, p3-p4 and p4-p1.

[0081] Step S2232: Based on the position coordinate relationship between the two vertices corresponding to the straight line edge and the point in the environment point cloud, detect whether the point in the environment point cloud is on the straight line edge. If it is on the straight line edge, add the point in the environment point cloud to the candidate point cloud set.

[0082] For example, taking the straight line edge p1-p2 as an example, to determine whether point Qi is on the straight line edge, the specific judgment conditions are shown in the following formula 5 and formula 6: (Formula 5) (Formula 6) Formula 5 represents the cross product of two coordinate vectors, and Formula 6 represents the dot product of two coordinate vectors. If both Formula 5 and Formula 6 are satisfied, it is determined that point Qi is on the edge of the straight line, and the point is added to the candidate point cloud set.

[0083] Step S2233: If it is not on the straight edge, based on the intersection relationship between the laser beam segment corresponding to the point in the environmental point cloud and the straight edge, detect whether the point in the environmental point cloud is within the point cloud filtering box; if it is within the point cloud filtering box, add the point in the environmental point cloud to the candidate point cloud set.

[0084] If it is not on the straight line edge, whether the laser beam line segment corresponding to the point intersects with the straight line edge segment and whether the intersection point is on the straight line edge segment is used to determine whether the point is within the point cloud filter box.

[0085] Specifically, taking the straight edge p1-p2 as an example, let the coordinates of the laser origin in the vehicle coordinate system be LO, and the i-th laser point cloud Qi, then: (Formula 7) (Formula 8) (Formula 9) (Formula 10) (Formula 11) like and If the value of is between [0,1], point Qi is considered to be a point cloud within the point cloud filter box, that is, it is judged to be a point cloud on the positioning guidance component, and the point is added to the candidate point cloud set.

[0086] Step S2234: Based on the points in the candidate point cloud set, obtain target component point clouds corresponding to at least two positioning guidance components.

[0087] Through the above embodiments, the target component point cloud corresponding to each positioning guidance component is obtained, so as to efficiently filter the point cloud on the limit by using the method that the laser point cloud is on the straight line edge and the laser beam line segment intersects the straight line edge and the intersection point is on the straight line edge, thereby improving the accuracy of point cloud screening.

[0088] Of course, in addition to the point cloud screening steps shown in the above steps S2231 to S2234, other methods can also be used for point cloud screening, such as detecting whether the point is within the point cloud screening box based on the coordinates of each point in the point cloud. This application does not limit this.

[0089] After obtaining the candidate point cloud set in the above embodiment, the points of the candidate point cloud set can be directly used as the target component point clouds corresponding to the positioning guidance components; the points of the candidate point cloud set can also be screened again to ensure the accuracy of the target component point cloud finally obtained.

[0090] For example, point clouds in the environment point cloud that fall into the point cloud screening box are determined to obtain candidate point cloud sets corresponding to at least two positioning guidance components; based on the spacing between points, the candidate point cloud sets corresponding to at least two positioning guidance components are clustered to obtain point cloud clusters corresponding to at least two positioning guidance components; based on the number of points in each point cloud cluster, the point cloud clusters corresponding to at least two positioning guidance components are screened to obtain target component point clouds corresponding to at least two positioning guidance components.

[0091] For example, the number of positioning guidance components is two, and the obtained candidate point cloud sets are recorded as LV and LR respectively. The point clouds in LV and LR are clustered according to the distance between points. For example, if the distance between points is less than the preset distance threshold, they are classified into one category, and LV and LR are divided into multiple point cloud clusters respectively. Then, the number of points in each point cloud cluster is counted, and the point cloud clusters with the number of points less than the preset number threshold are filtered out, so as to obtain the target component point clouds corresponding to the two positioning guidance components based on the filtered point cloud clusters.

[0092] In some embodiments, the target component point cloud is composed of one or more point cloud clusters; step S230 performs vertical straight line fitting and horizontal straight line fitting on the target component point clouds corresponding to at least two positioning guidance components, respectively, including: Step S231: for a target component point cloud corresponding to any positioning guidance component, obtain any point cloud cluster in the target component point cloud to obtain a point cloud cluster to be fitted.

[0093] Optionally, when selecting a point cloud cluster to be fitted, it is detected whether the number of points in the point cloud cluster is less than a minimum number threshold. If so, the point cloud cluster is ignored; if not, the point cloud cluster is used as the point cloud cluster to be fitted.

[0094] Step S232: filtering a first preset number of points before and after the point cloud cluster to be fitted respectively to obtain a filtered point cloud cluster.

[0095] Since the point clouds at both ends of the point cloud cluster may have tails or even distortion, the first preset number of points before and after the point cloud cluster to be fitted are skipped during straight line fitting, such as skipping j points before and after the point cloud cluster to be fitted.

[0096] The ordering method of the point cloud can be found in the above formula 2, which will not be described in detail here.

[0097] Step S233: Selecting a second preset number of points before and after the filtered point cloud cluster respectively, and performing straight line fitting respectively to obtain a first straight line and a second straight line.

[0098] For example, the first k points of the filtered point cloud cluster are selected, and a straight line fitting is performed on the selected points to obtain a first straight line m1, and the linear equation coefficients of m1 include m1a, m1b and m1c; the last k points of the filtered point cloud cluster are selected, and a straight line fitting is performed on the selected points to obtain a second straight line m2, and the linear equation coefficients of m2 include m2a, m2b and m2c.

[0099] Step S234: Detect whether the first straight line and the second straight line are perpendicular to each other. If the first straight line and the second straight line are perpendicular to each other, the first straight line and the second straight line are respectively regarded as a vertical straight line and a horizontal straight line.

[0100] Specifically, calculate the angle between the first straight line and the second straight line , see the following formula 12 for the specific calculation formula: (Formula 12) like If the difference between the first straight line and 90° is less than a preset angle threshold, it is determined that the first straight line and the second straight line are perpendicular to each other.

[0101] If the first straight line and the second straight line are perpendicular to each other, the first straight line and the second straight line are respectively regarded as a vertical straight line and a horizontal straight line.

[0102] In some embodiments, it further comprises: Step S235: If the first straight line and the second straight line are not perpendicular to each other, then calculate the intersection point between the first straight line and the second straight line.

[0103] Specifically, the intersection point can be calculated using the following formula 13: (Formula 13) Based on formula 13, the intersection point is calculated .

[0104] Step S236: Filter the points in the filtered point cloud cluster whose distances to the intersection point are greater than the first distance threshold, and select points whose distances to the first straight line and the second straight line are less than the second distance threshold from the filtered points to obtain the first point set and the second point set.

[0105] The first distance threshold and the second distance threshold may be preset based on experience.

[0106] Screening and Intersection Then, from the screened points, the distances between the points and the straight lines m1 and m2 are counted respectively, and the points whose distances to the first straight line are less than the second distance threshold are selected to obtain the first point set, and the points whose distances to the second straight line are less than the second distance threshold are selected to obtain the second point set.

[0107] Step S237: re-perform straight line fitting on the first point set and the second point set respectively to obtain a new first straight line and a new second straight line.

[0108] The selected first point set and the second point set are re-fitted with straight lines to obtain a new first straight line m1 and a new second straight line m2.

[0109] Step S238: Detect whether the new first straight line and the new second straight line are perpendicular to each other. If the new first straight line and the new second straight line are perpendicular to each other, use the new first straight line and the new second straight line as a vertical straight line and a horizontal straight line, respectively.

[0110] Of course, if the new first straight line and the new second straight line are still not perpendicular to each other, continue the above steps until the first straight line and the second straight line that are perpendicular to each other are obtained.

[0111] Based on the above embodiment, first and second straight lines perpendicular to each other corresponding to each positioning guidance component are obtained respectively, the one perpendicular to the straight line deployment direction is used as the vertical line, and the other line is used as the horizontal line associated with the vertical line.

[0112] After the vertical straight line is obtained, vertical straight lines parallel to each other are respectively selected from the vertical straight line fitting results corresponding to at least two positioning guidance components to obtain a reference straight line.

[0113] In some embodiments, in addition to determining whether the vertical lines corresponding to each positioning guidance component are parallel, it is also possible to detect whether the spacing between the vertical lines corresponding to each positioning guidance component conforms to the actual deployment of each positioning guidance component, specifically including: based on the deployment positions of at least two positioning guidance components, calculating the spacing between at least two positioning guidance components to obtain the actual spacing; detecting whether the vertical lines respectively fitted by the at least two positioning guidance components are parallel to each other, if they are parallel to each other, calculating the straight-line distance between the vertical lines fitted by the at least two positioning guidance components; detecting whether the difference between the straight-line distance and the actual spacing is less than a preset difference threshold, if it is less than the preset difference threshold, using the vertical lines respectively fitted by the at least two positioning guidance components as reference lines.

[0114] Specifically, it is calculated whether the vertical lines fitted by the positioning guidance components are parallel to each other. If the vertical lines fitted by the positioning guidance components are parallel to each other, it is calculated whether the distance between each vertical line is close to the actual distance Lw between the issued positioning guidance components, that is, it is determined whether the difference between the straight line distance and the actual spacing is less than the preset difference threshold. If it is less than the preset difference threshold, each vertical line is a straight line on each positioning guidance component, which is used as the reference line.

[0115] Then, the horizontal lines corresponding to each reference line are obtained, and the line fitting is re-performed based on the point cloud corresponding to the horizontal line to obtain a comprehensive horizontal line.

[0116] For example, if the number of positioning guidance components is 2, the vertical and horizontal lines corresponding to the left positioning guidance component are fitted to include m1 and m2, and the vertical and horizontal lines corresponding to the right positioning guidance component are fitted to include m3 and m4. If the vertical line m1 is parallel to the vertical line m3, and the difference between the straight line spacing and the actual spacing between the left positioning guidance component and the right positioning guidance component is less than the preset difference threshold, the vertical line m1 and the vertical line m3 are used as the reference lines ml and mr, respectively.

[0117] Then, the horizontal lines corresponding to the reference lines ml and mr are obtained respectively, and the horizontal lines m2 and m4 are obtained. The point clouds on the horizontal lines m2 and m4 are re-fitted, and the fitted line is recorded as the comprehensive horizontal line mh.

[0118] Then, based on the intersection between the reference straight line and the comprehensive horizontal straight line, the coordinates corresponding to the target working position are calculated.

[0119] In some implementations, calculating the coordinates corresponding to the target working position based on the intersection between the reference straight line and the integrated horizontal straight line in step S250 includes: Step S251: Obtain the relative position relationship between at least two positioning guidance components and the target working position; and calculate the coordinates of the at least two positioning guidance components based on the intersection points between each reference straight line and the integrated horizontal line, and calculate the orientations of the at least two positioning guidance components based on the angles between each reference straight line and the integrated horizontal line.

[0120] The coordinates of each positioning guidance component in the vehicle coordinate system can be obtained according to the intersection points between each reference line and the integrated horizontal line, and the orientation of the positioning guidance component can be obtained according to the angle between each reference line and the integrated horizontal line.

[0121] In some implementations, the calculation of the orientations of at least two positioning guidance components based on each reference straight line and the integrated horizontal straight line in step S251 includes: Step S2511: Obtain the perpendicular line of each reference straight line and obtain the direction vector of the comprehensive horizontal straight line; and, based on the ratio between the number of point clouds corresponding to each reference straight line and the number of point clouds corresponding to the comprehensive horizontal straight line, obtain the weighted parameter between the perpendicular line of each reference straight line and the direction vector of the comprehensive horizontal straight line.

[0122] Step S2512: using weighted parameters to perform weighted sum calculation on the direction vectors of the perpendicular line of each reference straight line and the comprehensive horizontal straight line to obtain the orientations of at least two positioning guidance components.

[0123] According to the ratio between the number of point clouds corresponding to each reference line and the number of point clouds corresponding to the comprehensive horizontal line, a weighted parameter between the vertical line of each reference line and the direction vector of the comprehensive horizontal line is obtained.

[0124] For example, the total number of point clouds corresponding to each reference line is n1, and the total number of point clouds corresponding to the comprehensive horizontal line is n2. Then the weighted parameters corresponding to the vertical line of each reference line are calculated. is n1 / (n1+n2), the weighted parameter corresponding to the direction vector of the comprehensive horizontal line is n2 / (n1+n2).

[0125] Continuing with the above embodiment as an example, assuming that the reference lines ml and mr, the comprehensive horizontal line mh, the linear equation coefficients of ml include mla, mlb and mlc, the linear equation coefficients of mr include mra, mrb and mrc, and the linear equation coefficients of mh include mha, mhb and mhc, then the orientation of the positioning guidance component is calculated. The specific method can be found in the following formula 14: (Formula 14) Step S252: based on the coordinates and orientations of at least two positioning guidance components and the relative positional relationship between the at least two positioning guidance components and the target working position, calculate the coordinates corresponding to the target working position.

[0126] For example, taking the docking scenario of a shelf as an example, a left limit structure and a right limit structure are deployed at the lifting center (target working position) of the shelf. The specific formula for calculating the coordinates of the lifting center in the vehicle body coordinate system can be found in the following formulas 15 and 16: (Formula 15) (Formula 16) Among them, lp is the shelf depth value, that is, the relative position relationship between the lifting center and the left limit structure and the right limit structure; To locate the orientation of the guidance component; the intersection points between the two reference lines and the comprehensive horizontal line are respectively represented as and , whose coordinates are expressed as ( , )and( , ); is the calculated coordinate of the lifting center in the vehicle body coordinate system.

[0127] The above embodiments are merely illustrative, and other methods may be used to calculate the coordinates corresponding to the target working position. For example, for low-precision navigation scenarios, the orientation of the positioning guidance component may not be considered, and this application does not limit this.

[0128] Then, the mobile device is controlled to move based on the coordinates corresponding to the target working position, so as to move to the target working position to perform the corresponding working task.

[0129] The laser radar-based device navigation method provided in the present application obtains an environmental point cloud by collecting point cloud data of a target recognition area; extracts points belonging to at least two positioning guidance components from the environmental point cloud to obtain target component point clouds corresponding to the at least two positioning guidance components; performs vertical line fitting and horizontal line fitting on the target component point clouds corresponding to the at least two positioning guidance components, and selects mutually parallel vertical lines from the vertical line fitting results corresponding to the at least two positioning guidance components to obtain a reference line; obtains the horizontal line corresponding to each reference line, re-performs line fitting based on the point cloud corresponding to the horizontal line to obtain a comprehensive horizontal line; calculates the coordinates corresponding to the target working position based on the intersection between the reference line and the comprehensive horizontal line, so as to calculate the coordinates of the target working position through the vertical line and horizontal line of each positioning guidance component, thereby ensuring the accuracy of the coordinates of the target working position, and the calculation process is simple and efficient, thereby improving the navigation and positioning efficiency of the device.

[0130] Figure 5 FIG. 1 is a block diagram of a laser radar-based device navigation apparatus according to an exemplary embodiment of the present application. Figure 5 As shown, the exemplary laser radar-based device navigation apparatus 500 includes: The point cloud acquisition module 510 is used to collect point cloud data of the target recognition area in response to the mobile device entering the target recognition area to obtain an environmental point cloud; wherein at least two positioning guidance components are deployed in the target recognition area relative to the target working position, and the two positioning guidance components are deployed along a straight line and parallel to each other; The point cloud extraction module 520 is used to extract points belonging to at least two positioning guidance components from the environment point cloud, and obtain target component point clouds corresponding to the at least two positioning guidance components. The straight line selection module 530 is used to perform vertical straight line fitting and horizontal straight line fitting on the target component point clouds corresponding to at least two positioning guidance components, and select mutually parallel vertical straight lines from the vertical straight line fitting results corresponding to at least two positioning guidance components to obtain a reference straight line; wherein the vertical straight line corresponds to at least one mutually perpendicular horizontal straight line, and the vertical straight line is perpendicular to the straight line deployment direction corresponding to the at least two positioning guidance components; A straight line fitting module 540 is used to obtain the horizontal straight line corresponding to each reference straight line, and re-perform straight line fitting based on the point cloud corresponding to the horizontal straight line to obtain a comprehensive horizontal straight line; The coordinate calculation module 550 is used to calculate the coordinates corresponding to the target working position based on the intersection between the reference straight line and the comprehensive horizontal straight line, and control the movement of the mobile device using the coordinates corresponding to the target working position.

[0131] It should be noted that the laser radar-based device navigation apparatus provided in the above embodiment and the laser radar-based device navigation method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment and will not be repeated here. In actual applications, the laser radar-based device navigation apparatus provided in the above embodiment can distribute the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0132] See also Figure 6 , Figure 6 6 is a schematic diagram of the structure of an embodiment of an electronic device of the present application. The electronic device 600 includes a memory 601 and a processor 602, and the processor 602 is used to execute program instructions stored in the memory 601 to implement the steps in any of the above-mentioned laser radar-based device navigation method embodiments. In a specific implementation scenario, the electronic device 600 may include but is not limited to: a microcomputer, a server, and in addition, the electronic device 600 may also include a mobile device such as a laptop computer and a tablet computer, which is not limited here.

[0133] Specifically, the processor 602 is used to control itself and the memory 601 to implement the steps in any of the above-mentioned laser radar-based device navigation method embodiments. The processor 602 can also be called a central processing unit (CPU). The processor 602 may be an integrated circuit chip with signal processing capabilities. The processor 602 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. In addition, the processor 602 can be implemented by an integrated circuit chip.

[0134] See also Figure 7 , Figure 7 The computer-readable storage medium 700 stores program instructions 710 that can be executed by a processor, and the program instructions 710 are used to implement the steps in any of the above-mentioned laser radar-based device navigation method embodiments.

[0135] In some embodiments, the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the method described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0136] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0137] In the several embodiments provided in the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation described above is only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0138] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or part of the contribution to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform all or part of the steps of each implementation method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program code.

Claims

1. A laser radar-based device navigation method, characterized in that: The method comprises: In response to the mobile device entering the target identification area, point cloud data is collected for the target identification area to obtain an environmental point cloud; wherein at least two positioning guidance components are deployed in the target identification area relative to the target working position, and the two positioning guidance components are deployed along a straight line and parallel to each other; Extracting points belonging to the at least two positioning guidance components from the environmental point cloud respectively, and obtaining target component point clouds corresponding to the at least two positioning guidance components respectively; Performing vertical straight line fitting and horizontal straight line fitting on the target component point clouds corresponding to the at least two positioning guidance components respectively, and selecting mutually parallel vertical straight lines from the vertical straight line fitting results corresponding to the at least two positioning guidance components respectively to obtain a reference straight line; wherein the vertical straight line corresponds to at least one mutually perpendicular horizontal straight line, and the vertical straight line is perpendicular to the straight line deployment direction corresponding to the at least two positioning guidance components; Obtaining the horizontal straight line corresponding to each reference straight line, and re-performing straight line fitting based on the point cloud corresponding to the horizontal straight line to obtain a comprehensive horizontal straight line; Based on the intersection point between the reference straight line and the integrated horizontal straight line, the coordinates corresponding to the target working position are calculated, and the mobile device is controlled to move using the coordinates corresponding to the target working position.

2. The method according to claim 1, characterized in that The extracting points belonging to the at least two positioning guidance components from the environment point cloud to obtain target component point clouds corresponding to the at least two positioning guidance components respectively includes: Obtaining preset appearance parameters and deployment positions of the at least two positioning guidance components; Based on the appearance parameters and deployment positions of the at least two positioning guidance components, generating point cloud screening boxes corresponding to the at least two positioning guidance components respectively; The point clouds in the environment point cloud that fall into the point cloud screening box are determined to obtain the target component point clouds corresponding to the at least two positioning guidance components respectively.

3. The method according to claim 2, characterized in that The step of determining the point clouds in the environment point cloud that fall into the point cloud screening box to obtain the target component point clouds corresponding to the at least two positioning guidance components respectively includes: Determine the straight line edge corresponding to the point cloud filtering box based on the vertices of the point cloud filtering box; Based on the position coordinate relationship between the two vertices corresponding to the straight line edge and the point in the environment point cloud, detecting whether the point in the environment point cloud is on the straight line edge, and if so, adding the point in the environment point cloud to the candidate point cloud set; If it is not on the straight edge, based on the intersection relationship between the laser beam line segment corresponding to the point in the environment point cloud and the straight edge, detect whether the point in the environment point cloud is within the point cloud screening box, and if it is within the point cloud screening box, add the point in the environment point cloud to the candidate point cloud set; Based on the points in the candidate point cloud set, target component point clouds corresponding to the at least two positioning guidance components are obtained.

4. The method according to claim 2, characterized in that: The step of determining the point clouds in the environment point cloud that fall into the point cloud screening box to obtain the target component point clouds corresponding to the at least two positioning guidance components respectively includes: Determine the point clouds in the environment point cloud that fall into the point cloud screening box, and obtain candidate point cloud sets corresponding to the at least two positioning guidance components respectively; Clustering the candidate point cloud sets corresponding to the at least two positioning guidance components respectively based on the distance between the points to obtain the point cloud clusters corresponding to the at least two positioning guidance components respectively; Based on the number of points in each point cloud cluster, the point cloud clusters corresponding to the at least two positioning guidance components are screened to obtain the target component point clouds corresponding to the at least two positioning guidance components.

5. The method according to claim 1, characterized in that: The target component point cloud is composed of one or more point cloud clusters; the vertical straight line fitting and the horizontal straight line fitting are respectively performed on the target component point clouds corresponding to the at least two positioning guidance components, including: For a target component point cloud corresponding to any positioning guidance component, obtain any point cloud cluster in the target component point cloud to obtain a point cloud cluster to be fitted; Respectively filtering a first preset number of points before and after the point cloud cluster to be fitted to obtain a filtered point cloud cluster; Selecting a second preset number of points before and after the filtered point cloud cluster respectively, and performing straight line fitting respectively to obtain a first straight line and a second straight line; It is detected whether the first straight line and the second straight line are perpendicular to each other. If the first straight line and the second straight line are perpendicular to each other, the first straight line and the second straight line are respectively regarded as a vertical straight line and a horizontal straight line.

6. The method according to claim 5, characterized in that The method further comprises: If the first straight line and the second straight line are not perpendicular to each other, calculating the intersection point between the first straight line and the second straight line; Screening the points in the filtered point cloud cluster whose distances from the intersection point are greater than a first distance threshold, and selecting points whose distances from the first straight line and the second straight line are less than a second distance threshold from the screened points, to obtain a first point set and a second point set; Re-performing straight line fitting on the first point set and the second point set respectively to obtain a new first straight line and a new second straight line; It is detected whether the new first straight line and the new second straight line are perpendicular to each other. If the new first straight line and the new second straight line are perpendicular to each other, the new first straight line and the new second straight line are respectively used as a vertical straight line and a horizontal straight line.

7. The method according to claim 1, characterized in that The step of selecting mutually parallel vertical lines from the vertical line fitting results corresponding to the at least two positioning guidance components to obtain a reference line comprises: Calculating the distance between the at least two positioning guidance components based on the deployment positions of the at least two positioning guidance components to obtain an actual distance; Detecting whether the vertical lines respectively fitted by the at least two positioning guidance components are parallel to each other, and if so, calculating the linear distance between the vertical lines respectively fitted by the at least two positioning guidance components; It is detected whether the difference between the straight-line distance and the actual spacing is less than a preset difference threshold value. If it is less than the preset difference threshold value, the vertical straight lines respectively fitted by the at least two positioning guidance components are used as reference straight lines.

8. The method according to claim 1, characterized in that The calculating the coordinates corresponding to the target working position based on the intersection point between the reference straight line and the comprehensive horizontal straight line includes: Obtaining the relative positional relationship between the at least two positioning guidance components and the target working position; and calculating the coordinates of the at least two positioning guidance components based on the intersection points between each reference straight line and the comprehensive horizontal straight line, and calculating the orientations of the at least two positioning guidance components based on the angles between each reference straight line and the comprehensive horizontal straight line; Based on the coordinates and orientations of the at least two positioning guidance components and the relative positional relationship between the at least two positioning guidance components and the target working position, coordinates corresponding to the target working position are calculated.

9. The method according to claim 8, characterized in that The calculating of the orientations of the at least two positioning guidance components based on the angle between each reference straight line and the comprehensive horizontal straight line comprises: Obtaining a perpendicular line to each reference straight line, and obtaining a direction vector of the integrated horizontal straight line; and, Based on the ratio between the number of point clouds corresponding to each reference straight line and the number of point clouds corresponding to the comprehensive horizontal straight line, a weighted parameter between the perpendicular line of each reference straight line and the direction vector of the comprehensive horizontal straight line is obtained; The weighted parameters are used to perform a weighted sum calculation on the direction vectors of the perpendicular line of each reference straight line and the comprehensive horizontal straight line to obtain the orientations of the at least two positioning guidance components.

10. A mobile device, characterized in that: The mobile device comprises a memory and a processor, and the processor is used to execute program instructions stored in the memory to implement the steps in the method according to any one of claims 1-9.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program instructions, and the program instructions can be executed by a processor to implement the steps in the method according to any one of claims 1 to 9.

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