Equipment positioning method and device, equipment and computer program product

Abstract

The invention is suitable for the technical field of positioning, and provides an equipment positioning method and device, equipment and a computer program product. The method is applied to target equipment provided with a target structure and a liftable radar, and the target structure enables different radar field angles to correspond to different radar lifting positions. The method comprises the following steps: determining a first target lifting position of a liftable radar according to a first bottom surface height of a target obstacle, and controlling the liftable radar to lift for the first time according to the first target lifting position; determining a first correction displacement according to a first lifting position and a first target lifting position corresponding to the first radar field angle; controlling the liftable radar to lift for the second time according to the first correction displacement; and in the process that the target equipment moves in the bottom space of the target obstacle, determining positioning data of the target equipment. According to the method, the radar is located at a high height in the process that the target equipment moves in the bottom space of the target obstacle, and the positioning accuracy of the target equipment is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of positioning, and particularly relates to a device positioning method and device, a device, and a computer program product. BACKGROUND

[0002] In order to determine the positioning data of the target device during the movement of the target device in the bottom space of the target obstacle, it is usually necessary to control the radar in the target device to ascend to a target position before the target device moves to the bottom space of the target obstacle, and then determine the positioning data of the target device by the radar kept at the target position during the movement of the target device in the bottom space of the target obstacle.

[0003] However, the current target device cannot accurately determine the height of the radar, so in order to avoid the radar from colliding with the target obstacle during the movement in the bottom space of the target obstacle, the prior art usually conservatively controls the radar to ascend to a lower height. The radar can obtain a smaller field of view angle at the lower height, thus reducing the positioning accuracy of the target device. SUMMARY

[0004] Therefore, the embodiments of the present application provide a device positioning method, device, apparatus, and computer program product to solve the technical problem of low positioning accuracy of the existing target device.

[0005] In a first aspect, the embodiments of the present application provide a device positioning method applied to a target device provided with a target structure and a liftable radar, wherein the target structure makes different radar field of view angles of the liftable radar correspond to different radar lifting positions; and the method comprises the following steps:

[0006] obtaining a first bottom surface height of a target obstacle, wherein a movement path of the target device passes through a bottom space of the target obstacle;

[0007] determining a first target lifting position of the liftable radar according to the first bottom surface height, and controlling the liftable radar to perform first lifting according to the first target lifting position;

[0008] after the liftable radar completes the first lifting, obtaining a first radar field of view angle of the liftable radar, and determining a first correction displacement according to a first lifting position corresponding to the first radar field of view angle and the first target lifting position;

[0009] controlling the liftable radar to perform second lifting according to the first correction displacement, and controlling the target device to move in the bottom space of the target obstacle after the liftable radar completes the second lifting;

[0010] During the process that the target device moves in the bottom space of the target obstacle, positioning data of the target device is determined according to target mapping data detected by the liftable radar.

[0011] Optionally, after the target device is controlled to move in the bottom space of the target obstacle, the method further comprises:

[0012] If the bottom surface height of the target obstacle changes from the first bottom surface height to a second bottom surface height, a second radar field angle of the liftable radar is obtained;

[0013] According to the second bottom surface height, a second target lifting position of the liftable radar is determined, and the liftable radar is controlled to lift for a third time according to the second target lifting position;

[0014] After the liftable radar completes the third lifting, a third radar field angle of the liftable radar is obtained, and a second correction displacement is determined according to the second radar field angle, the third radar field angle and the second target lifting position;

[0015] According to the second correction displacement, the liftable radar is controlled to lift for a fourth time, and after the liftable radar completes the fourth lifting, positioning data of the target device is determined according to the target mapping data.

[0016] Optionally, the target structure is a three-dimensional fan-shaped notch structure arranged at the edge of the target device, the first edge surface and the second edge surface in the three-dimensional fan-shaped notch structure are both inclined surfaces with a preset inclination angle, and the liftable radar is arranged in the target structure.

[0017] Optionally, the second correction displacement is determined according to the second radar field angle, the third radar field angle and the second target lifting position, comprising:

[0018] According to the second radar field angle, the third radar field angle, the preset inclination angle and the radius of the liftable radar, an actual lifting displacement of the liftable radar is determined;

[0019] According to the second lifting position corresponding to the second radar field angle, the second target lifting position and the actual lifting displacement, the second correction displacement is determined.

[0020] Optionally, the target device is further provided with a distance sensor arranged in the movement direction of the device; the first bottom surface height and the second bottom surface height are both determined by the distance sensor.

[0021] Optionally, the target device is further provided with a rotating lead screw for driving the liftable radar to lift, a driving motor for driving the rotating lead screw, and a lifting position detection device for outputting a position signal corresponding to a preset lifting position when the liftable radar is lifted to the preset lifting position; and the controlling the liftable radar to lift for the first time according to the first target lifting position comprises:

[0022] acquiring a first driving coefficient for describing a relationship between a lifting displacement and a driving time of the driving motor;

[0023] determining a first driving duration and a first driving direction of the driving motor according to the first target lifting position, the position signal, and the first driving coefficient;

[0024] controlling the liftable radar to lift for the first time through the first driving duration and the first driving direction.

[0025] Optionally, the controlling the liftable radar to lift for the second time according to the first correction displacement comprises:

[0026] correcting the first driving coefficient according to the first correction displacement to obtain a second driving coefficient;

[0027] determining a second driving duration and a second driving direction of the driving motor according to the first correction displacement, the position signal, and the second driving coefficient;

[0028] controlling the liftable radar to lift for the second time through the second driving duration and the second driving direction.

[0029] In a second aspect, an embodiment of the present application provides a device positioning apparatus applied to a target device provided with a target structure and a liftable radar, the target structure making different radar lifting positions corresponding to different radar field angles of the liftable radar; and the apparatus comprises:

[0030] a first acquiring unit configured to acquire a first bottom surface height of a target obstacle, a moving path of the target device passing through a bottom space of the target obstacle;

[0031] a first determining unit configured to determine a first target lifting position of the liftable radar according to the first bottom surface height, and control the liftable radar to lift for the first time according to the first target lifting position;

[0032] a second determining unit, configured to obtain a first radar field angle of the liftable radar after the liftable radar completes the first lifting, and determine a first correction displacement according to a first lifting position corresponding to the first radar field angle and the first target lifting position;

[0033] a control unit, configured to control the liftable radar to perform a second lifting according to the first correction displacement, and control the target device to move in a bottom space of the target obstacle after the liftable radar completes the second lifting;

[0034] a third determining unit, configured to determine positioning data of the target device according to target mapping data detected by the liftable radar during the movement of the target device in the bottom space of the target obstacle.

[0035] In a third aspect, an embodiment of the present application provides a target device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements each step in the device positioning method according to any one of the first aspect.

[0036] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executable on a processor to implement each step in the device positioning method according to any one of the first aspect.

[0037] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when running on an electronic device, enables the electronic device to perform each step in the device positioning method according to any one of the first aspect.

[0038] The device positioning method, device, apparatus, and computer program product provided by the embodiments of the present application have the following beneficial effects:

[0039] The device positioning method provided in the embodiments of the present application is applied to a target device provided with a target structure and a liftable radar, and the target structure causes different radar elevation angles of the liftable radar to correspond to different radar elevations. In the device positioning method provided in the embodiments of the present application, first, a first bottom surface height of a target obstacle is obtained, wherein a movement path of the target device passes through a bottom space of the target obstacle. Then, according to the first bottom surface height, a first target elevation of the liftable radar is determined, and the liftable radar is controlled to perform a first elevation according to the first target elevation. After the liftable radar completes the first elevation, a first radar elevation angle of the liftable radar is obtained, and a first correction displacement is determined according to a first elevation corresponding to the first radar elevation angle and the first target elevation. Then, the liftable radar is controlled to perform a second elevation according to the first correction displacement, and after the liftable radar completes the second elevation, the target device is controlled to move in the bottom space of the target obstacle. During the movement of the target device in the bottom space of the target obstacle, positioning data of the target device is determined according to target mapping data detected by the liftable radar. Since the target device in the method is provided with the target structure capable of causing different radar elevation angles of the liftable radar to correspond to different radar elevations, the target device can accurately obtain the elevations of the radar according to the radar elevation angles of the liftable radar. Based on this, after the liftable radar completes the first elevation, the liftable radar can be controlled to perform the second elevation according to the first elevation corresponding to the first radar elevation angle and the first target elevation, so that the liftable radar can accurately elevate to the first target elevation. Since the method causes the liftable radar to accurately elevate to the first target elevation, the first target elevation can be determined at a higher height to ensure that the liftable radar does not collide with the bottom of the target obstacle, so that the liftable radar can obtain a larger field of view during the movement of the target device in the bottom space of the target obstacle, thereby improving the positioning accuracy of the target device. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative labor.

[0041] Figure 1 An implementation flowchart of the device positioning method provided in the embodiments of the present application;

[0042] Figure 2 A structural schematic diagram of a target device provided in the embodiments of the present application;

[0043] Figure 3Another schematic structural diagram of a target device provided by an embodiment of the present application is shown in FIG. 6.

[0044] Figure 4 A schematic diagram of the relationship between the radar field of view angle and the radar lifting position provided by an embodiment of the present application is shown in FIG. 7.

[0045] Figure 5 A schematic structural diagram of a device positioning apparatus provided by an embodiment of the present application is shown in FIG. 8.

[0046] Figure 6 A schematic structural diagram of a target device provided by an embodiment of the present application is shown in FIG. 6. DETAILED DESCRIPTION

[0047] It should be noted that the terms used in the embodiments of the present application are only used to explain the embodiments of the present application, and are not intended to limit the present application. In the description of the embodiments of the present application, unless otherwise specified, "a plurality of" means two or more than two, "at least one", "one or more" means one, two or more than two. The terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more features.

[0048] In the present specification, the reference to "one embodiment" or "some embodiments" and the like means that the specific features, structures or characteristics described in connection with the embodiment are included in one or more embodiments of the present application. Therefore, the statements "in one embodiment", "in some embodiments", "in other some embodiments", "in further some embodiments" and the like appearing in different places in the present specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "include", "contain", "have" and their variants mean "include but not limited to", unless otherwise specifically emphasized.

[0049] The execution subject of the device positioning method provided by the embodiments of the present application can be a target device provided with a target structure and a liftable radar. Exemplarily, the target device can include but is not limited to a sweeping robot provided with a target structure and a liftable radar.

[0050] The device positioning method provided in the embodiments of the present application can be applied to a scenario in which a target device moving in a bottom space of a target obstacle needs to be positioned. For example, the target device can be a sweeping robot, and the target obstacle can be a chair. The sweeping robot needs to move in the bottom space of the chair during operation. When the sweeping robot needs to be positioned, the sweeping robot can execute each step of the device positioning method provided in the embodiments of the present application.

[0051] Referring to Figure 1 , Figure 1 An implementation flowchart of the device positioning method provided in the embodiments of the present application is shown in FIG. 2. The device positioning method can be applied to a target device provided with a target structure and a liftable radar. The target structure can make different radar view angles of the liftable radar correspond to different radar lifting positions.

[0052] In a possible implementation, the target structure can be a three-dimensional fan-shaped notch structure arranged at an edge of the target device. The first edge surface and the second edge surface in the three-dimensional fan-shaped notch structure are both inclined surfaces with a preset inclination angle. The liftable radar is arranged in the target structure.

[0053] Referring to Figure 2 , Figure 2 A structure diagram of a target device provided in the embodiments of the present application is shown in FIG. 3. Figure 2 As shown in FIG. 3, the target device includes the target structure described in the implementation. The liftable radar in the form of a cylinder is arranged in the target structure.

[0054] Referring to Figure 3 , Figure 3 Another structure diagram of a target device provided in the embodiments of the present application is shown in FIG. 4. Figure 3 A structure diagram of a target device from another perspective is shown in FIG. 5. Figure 3 As shown in FIG. 5, the first edge surface and the second edge surface in the target structure are both inclined surfaces with a preset inclination angle. In actual application, the preset inclination angle can be set according to actual requirements.

[0055] Referring to Figure 4 , Figure 4 A diagram showing the relationship between a radar view angle and a radar lifting position provided in the embodiments of the present application is shown in FIG. 6. Figure 4 As shown in FIG. 6, by arranging the target structure in the target device, different radar view angles of the liftable radar can correspond to different radar lifting positions. Based on this, the target device can accurately determine the radar lifting position through the radar view angle.

[0056] The device positioning method can include S101-S105, which are described as follows.

[0057] In S101 , a first bottom height of a target obstacle is acquired, and a moving path of the target device passes through a bottom space of the target obstacle.

[0058] In an embodiment of the present application, before the liftable radar in the target device enters the bottom space of the target obstacle, the target device may first obtain a first bottom surface height of the target obstacle.

[0059] In a possible implementation, the target device may also be provided with a distance sensor arranged in the direction of movement of the device. Figure 2 As shown, the distance sensor in the target device is arranged in the direction of movement of the target device. When the first bottom surface height of the target obstacle needs to be obtained, the target device can control the target device to move so that the distance sensor of the target device is located in the bottom space of the target obstacle and the elevating radar of the target device is not located in the bottom space of the target obstacle (to prevent the elevating radar from colliding with the target obstacle). Then, the target device can obtain the first bottom surface height of the target obstacle through the distance sensor.

[0060] In S102, a first target lifting position of the liftable radar is determined according to the first bottom surface height, and the liftable radar is controlled to perform a first lifting according to the first target lifting position.

[0061] In an embodiment of the present application, after obtaining the first bottom surface height of the target obstacle, the target device may first determine the first target lifting position of the liftable radar according to the first bottom surface height.

[0062] In one possible implementation, the target device can obtain a preset remaining distance and then determine a first target lift position for the elevating radar based on the first bottom surface height and the remaining distance, to ensure that the elevating radar does not collide with the target obstacle during movement within the space beneath the target obstacle. For example, the first bottom surface height of the target obstacle can be 20 cm, and the remaining distance can be 1 cm. Based on this, the first target lift position determined by the target device can be 19 cm from the bottom surface.

[0063] After determining the first target lifting position of the liftable radar, the target device can control the liftable radar to perform the first lifting according to the first target lifting position.

[0064] In one possible implementation, the target device may also be provided with a rotating screw for driving the liftable radar to lift and lower, a driving motor for driving the rotating screw, and a lifting position detection device. The lifting position detection device may be used to output a position signal corresponding to a preset lifting position when the liftable radar is lifted to the preset lifting position.

[0065] Exemplarily, the preset lifting positions can include an upper limit position, a middle limit position and a lower limit position. The upper limit position can be the highest position to which the liftable radar can be lifted, the middle limit position can be the position corresponding to the body of the target device just above which the liftable radar is located, and the lower limit position can be the lowest position to which the liftable radar can be lowered.

[0066] Based on this, when the liftable radar reaches the upper limit position, the lifting position detection device can output the position signal corresponding to the upper limit position, and after the target device detects the position signal corresponding to the upper limit position, it can be determined that the current lifting position of the liftable radar is at the upper limit position. Similarly, when the liftable radar reaches the middle limit position, the lifting position detection device can output the position signal corresponding to the middle limit position, and after the target device detects the position signal corresponding to the middle limit position, it can be determined that the current lifting position of the liftable radar is at the middle limit position. Similarly, when the liftable radar reaches the lower limit position, the lifting position detection device can output the position signal corresponding to the lower limit position, and after the target device detects the position signal corresponding to the lower limit position, it can be determined that the current lifting position of the liftable radar is at the lower limit position.

[0067] In the present implementation, the target device can control the liftable radar to lift for the first time according to the first target lifting position in the following manner:

[0068] Firstly, the target device can obtain a first driving coefficient describing the relationship between the lifting displacement of the liftable radar and the driving time of the driving motor. The first driving coefficient can be pre-stored in the target device. It should be noted that in actual applications, the relationship between the lifting displacement and the driving time of the driving motor is approximately linear but not completely linear, so there is an error between the lifting displacement estimated by the first driving coefficient and the driving time of the driving motor and the actual lifting displacement.

[0069] Subsequently, the target device can determine the first driving duration and the first driving direction of the driving motor according to the first target lifting position, the position signal and the first driving coefficient, and control the liftable radar to lift for the first time by the first driving duration and the first driving direction. Exemplarily, if the first target lifting position is 19 cm, the upper limit position is 30 cm, the middle limit position is 20 cm and the lower limit position is 10 cm, the target device can first control the liftable radar to lift to the middle limit position closest to the first target lifting position, and after receiving the position signal corresponding to the middle limit position, the target device can determine that it still needs to be lowered by 1 cm to reach the first target lifting position (i.e., it can be determined that the first driving direction is the lowering direction). Then, the target device can determine the first driving duration according to the first driving coefficient, and then control the liftable radar to lift for the first time according to the determined first driving direction and first driving duration.

[0070] By the above manner of presetting the lifting position, the liftable radar can be lifted to the first target lifting position as accurately as possible. However, since the relationship between the lifting displacement and the driving time of the driving motor is approximately linear but not completely linear, after the liftable radar completes the first lifting, there is still a certain error between the position of the liftable radar and the first target lifting position.

[0071] In S103, after the liftable radar completes the first lifting, the first radar field angle of the liftable radar is acquired, and the first correction displacement is determined according to the first lifting position corresponding to the first radar field angle and the first target lifting position.

[0072] In the embodiments of the present application, since there is still a certain error between the position of the liftable radar and the first target lifting position after the liftable radar completes the first lifting, after the liftable radar completes the first lifting, the target device can acquire the first radar field angle of the liftable radar, and then determine the first lifting position corresponding to the first radar field angle of the liftable radar, and then determine the first correction displacement according to the first lifting position corresponding to the first radar field angle and the first target lifting position. The first radar field angle of the liftable radar is the radar field angle of the liftable radar after the liftable radar completes the first lifting.

[0073] For example, if the first target lifting position is 19 cm and the first lifting position corresponding to the first radar field angle is 19.1 cm, it can be determined that the absolute value of the first correction displacement is 0.1 cm, and the direction of the first correction displacement is the downward direction, that is, the first correction displacement can be determined as -0.1 cm.

[0074] In S104, the liftable radar is controlled to perform the second lifting according to the first correction displacement, and after the liftable radar completes the second lifting, the target device is controlled to move in the bottom space of the target obstacle.

[0075] In the embodiments of the present application, after the first correction displacement is determined, the electronic device can control the liftable radar to perform the second lifting according to the first correction displacement.

[0076] In a possible implementation manner, the target device can control the liftable radar to perform the second lifting according to the first correction displacement in the following manner:

[0077] Firstly, the target device can correct the first driving coefficient according to the first correction displacement to obtain a second driving coefficient. By correcting the first driving coefficient, the target device can more accurately control the liftable radar to lift up for the second time. Then, the target device can determine a second driving duration and a second driving direction of the driving motor according to the first correction displacement, the position signal and the second driving coefficient, and control the liftable radar to lift up for the second time through the second driving duration and the second driving direction. It should be noted that in some cases, the target device can determine the second driving duration and the second driving direction of the driving motor without the position signal. For example, if the first target lifting position is 19 cm, the middle limit position is 20 cm, and the first correction displacement is -0.1 cm, the target device can determine the second driving duration and the second driving direction of the driving motor according to the first correction displacement and the second driving coefficient.

[0078] After the liftable radar completes the second lifting, the target device can control the target device to move in the bottom space of the target obstacle. Since the target device controls the target device to move in the bottom space of the target obstacle after the liftable radar completes the second lifting, the target device can avoid collision between the liftable radar and the target obstacle.

[0079] In S105, during the movement of the target device in the bottom space of the target obstacle, the target device determines the positioning data of the target device according to the target mapping data detected by the liftable radar.

[0080] In the embodiments of the present application, during the movement of the target device in the bottom space of the target obstacle, the target device can determine the positioning data of the target device according to the target mapping data detected by the liftable radar. The specific way of determining the positioning data of the target device according to the target mapping data can be set according to actual requirements, which is not limited here.

[0081] In a possible implementation, the target mapping data can be determined in the following way:

[0082] Before the liftable radar in the target device enters the bottom space of the target obstacle, the target device can first control the liftable radar to lift up to the upper limit position. After the liftable radar lifts up to the upper limit position, the target device can detect the target mapping data through the liftable radar, and store the target mapping data.

[0083] It can be seen from the above that the device positioning method provided in the embodiments of the present application is applied to a target device provided with a target structure and a liftable radar. The target structure causes different radar elevation angles of the liftable radar to correspond to different radar elevation positions. In the device positioning method provided in the embodiments of the present application, first, the first bottom height of the target obstacle is acquired, wherein the movement path of the target device passes through the bottom space of the target obstacle. Then, according to the first bottom height, the first target elevation position of the liftable radar is determined, and according to the first target elevation position, the liftable radar is controlled to perform first elevation. After the liftable radar completes the first elevation, the first radar elevation angle of the liftable radar is acquired, and according to the first elevation position corresponding to the first radar elevation angle and the first target elevation position, the first correction displacement is determined. Then, according to the first correction displacement, the liftable radar is controlled to perform second elevation. After the liftable radar completes the second elevation, the target device is controlled to move in the bottom space of the target obstacle. In the process of the movement of the target device in the bottom space of the target obstacle, the positioning data of the target device is determined according to the target mapping data detected by the liftable radar. Since the target device in the method is provided with the target structure capable of causing different radar elevation angles of the liftable radar to correspond to different radar elevation positions, the target device can accurately acquire the elevation position of the radar according to the radar elevation angle of the liftable radar. Based on this, after the liftable radar completes the first elevation, the liftable radar can be controlled to perform the second elevation according to the first elevation position corresponding to the first radar elevation angle and the first target elevation position, so that the liftable radar can accurately elevate to the first target elevation position. Since the method causes the liftable radar to accurately elevate to the first target elevation position, the first target elevation position can be determined at a higher height to enable the liftable radar to acquire a larger field of view in the process of the movement of the target device in the bottom space of the target obstacle, thereby improving the positioning accuracy of the target device.

[0084] In actual application, in the process of the movement of the target device in the bottom space of the target obstacle, the bottom height of the target obstacle can change. Based on this, in a possible implementation manner, after the target device is controlled to move in the bottom space of the target obstacle, the device positioning method provided in the embodiments of the present application can further include steps a to d. Details are as follows:

[0085] In step a, if the bottom height of the target obstacle changes from the first bottom height to the second bottom height, the second radar elevation angle of the liftable radar is acquired.

[0086] In this implementation, the target device may detect whether the bottom height of the target obstacle changes by using a distance sensor provided in the direction of device movement, and may determine the second bottom height by using the distance sensor.

[0087] If the bottom height of the target obstacle is detected to change from the first bottom height to the second bottom height, the target device can obtain the second radar field of view angle of the elevating radar. The second radar field of view angle of the elevating radar is the radar field of view angle after the elevating radar completes the second elevation.

[0088] In step b, the second target lifting position of the liftable radar is determined according to the second bottom surface height, and the liftable radar is controlled to perform a third lifting according to the second target lifting position.

[0089] In this implementation method, the implementation method of the target device "determining the second target lifting position of the liftable radar according to the second bottom surface height, and controlling the liftable radar to perform a third lifting according to the second target lifting position" can refer to the implementation method of "determining the first target lifting position of the liftable radar according to the first bottom surface height, and controlling the liftable radar to perform a first lifting according to the first target lifting position" in S102, which will not be repeated here.

[0090] In step c, after the elevating radar completes the third lift, the third radar field of view angle of the elevating radar is obtained, and the second correction displacement is determined according to the second radar field of view angle, the third radar field of view angle and the lifting position of the second target.

[0091] In this implementation, the third radar field of view angle of the elevating radar is the radar field of view angle after the elevating radar completes the third lift. Optionally, the target device can determine the second correction displacement based on the second radar field of view angle, the third radar field of view angle, and the second target lift position in the following manner:

[0092] First, the target device can determine the actual lifting displacement of the liftable radar based on the second radar field of view angle, the third radar field of view angle, the preset tilt angle, and the radius of the liftable radar. The preset tilt angle is as follows: Figure 2 and Figure 3 The radius of the elevating radar can be the radius of the cross section of the cylinder in the elevating radar.

[0093] Specifically, the target device can first determine the unilateral radar field of view angle based on the second radar field of view angle, the third radar field of view angle, and the first formula. The first formula can be:

[0094] A=(α-β) / 2

[0095] Wherein, A represents the single-side radar field angle, a represents the second radar field angle, and b represents the third radar field angle.

[0096] After the single-side radar field angle is determined, the target device can determine the actual lifting displacement of the liftable radar according to the single-side radar field angle, the preset tilt angle, the radius of the liftable radar, and the second formula.

[0097] Wherein, the second formula can be:

[0098]

[0099] Wherein, h represents the actual lifting displacement of the liftable radar, r represents the radius of the liftable radar, A represents the single-side radar field angle, and g represents the preset tilt angle.

[0100] After the actual lifting displacement of the liftable radar is determined, the target device can determine the second correction displacement according to the second lifting position corresponding to the second radar field angle, the second target lifting position, and the actual lifting displacement of the liftable radar. Specifically, the target device can determine the actual position of the liftable radar after the third lifting according to the second lifting position and the actual lifting displacement of the liftable radar, and then determine the second correction displacement according to the actual position of the liftable radar after the third lifting and the second target lifting position.

[0101] In step d, the liftable radar is controlled to perform the fourth lifting according to the second correction displacement, and after the liftable radar completes the fourth lifting, the positioning data of the target device is determined according to the target mapping data.

[0102] In the present implementation, the specific implementation of the target device "controlling the liftable radar to perform the fourth lifting according to the second correction displacement" can refer to the specific implementation of "controlling the liftable radar to perform the second lifting according to the first correction displacement" in S104, which will not be repeated here.

[0103] As can be seen from the above, when the bottom surface height of the target obstacle decreases, the collision between the liftable radar and the target obstacle can be avoided through steps a to d, and when the bottom surface height of the target obstacle increases, the liftable radar can be lifted to a new height through steps a to d, so as to obtain a larger radar field angle, and further improve the positioning accuracy of the target device.

[0104] It should be noted that after steps a to d are performed, if the bottom surface height of the target obstacle changes again, the target device can refer to the implementation of steps a to d to control the liftable radar to lift again.

[0105] Based on the device positioning method provided in the above embodiments, the device positioning apparatus for implementing the above method embodiments is further provided in the embodiments of the present application, which can be applied to a target device provided with a target structure and a liftable radar. The target structure can make different radar elevation angles of the liftable radar correspond to different radar elevation positions. Please refer to Figure 5 , Figure 5 FIG. 1 is a structural schematic diagram of a device positioning apparatus provided in the embodiments of the present application. As shown in FIG. 1, the device positioning apparatus 50 can include a first acquisition unit 51, a first determination unit 52, a second determination unit 53, a control unit 54, and a third determination unit 55. Figure 5

[0106]

[0107] The first acquisition unit 51 is configured to acquire a first bottom surface height of a target obstacle, through which a moving path of the target device passes.

[0108] The first determination unit 52 is configured to determine a first target elevation position of the liftable radar according to the first bottom surface height, and control the liftable radar to perform a first elevation according to the first target elevation position.

[0109] The second determination unit 53 is configured to acquire a first radar elevation angle of the liftable radar after the liftable radar completes the first elevation, and determine a first correction displacement according to the first target elevation position and a first elevation position corresponding to the first radar elevation angle.

[0110] The control unit 54 is configured to control the liftable radar to perform a second elevation according to the first correction displacement, and control the target device to move in the bottom space of the target obstacle after the liftable radar completes the second elevation.

[0111] The third determination unit 55 is configured to determine positioning data of the target device according to target mapping data detected by the liftable radar during the movement of the target device in the bottom space of the target obstacle.

[0112] Optionally, the device positioning apparatus 50 can further include a second acquisition unit, a fourth determination unit, a fifth determination unit, and a sixth determination unit. Wherein:

[0113] The second acquisition unit is configured to acquire a second radar elevation angle of the liftable radar if the bottom surface height of the target obstacle changes from the first bottom surface height to a second bottom surface height.

[0114] The fourth determination unit is configured to determine a second target elevation position of the liftable radar according to the second bottom surface height, and control the liftable radar to perform a third elevation according to the second target elevation position.

[0115] ​​The fifth determining unit is configured to obtain a third radar field angle of the liftable radar after the third lifting of the liftable radar is completed, and determine a second correction displacement according to the second radar field angle, the third radar field angle and the second target lifting position.

[0116] The sixth determining unit is configured to control the liftable radar to perform a fourth lifting according to the second correction displacement, and determine positioning data of the target device according to the target mapping data after the fourth lifting of the liftable radar is completed.

[0117] Optionally, the target structure is a three-dimensional fan-shaped notch structure arranged at an edge of the target device, and the first edge surface and the second edge surface in the three-dimensional fan-shaped notch structure are both inclined surfaces with a preset inclination angle, and the liftable radar is arranged in the target structure.

[0118] Optionally, the fifth determining unit is specifically configured to:

[0119] determine an actual lifting displacement of the liftable radar according to the second radar field angle, the third radar field angle, the preset inclination angle and a radius of the liftable radar;

[0120] determine the second correction displacement according to the second lifting position corresponding to the second radar field angle, the second target lifting position and the actual lifting displacement.

[0121] Optionally, the target device further comprises a distance sensor arranged in a movement direction of the target device; the first bottom surface height and the second bottom surface height are both determined by the distance sensor.

[0122] Optionally, the target device further comprises a rotating lead screw for driving the liftable radar to lift, a driving motor for driving the rotating lead screw and a lifting position detection device, the lifting position detection device is configured to output a position signal corresponding to a preset lifting position when the liftable radar is lifted to the preset lifting position; the first determining unit 52 is specifically configured to:

[0123] obtain a first driving coefficient for describing a relationship between the lifting displacement and a driving time of the driving motor;

[0124] determine a first driving duration and a first driving direction of the driving motor according to the first target lifting position, the position signal and the first driving coefficient;

[0125] control the liftable radar to perform the first lifting through the first driving duration and the first driving direction.

[0126] Optionally, the control unit 54 is specifically configured to:

[0127] correct the first driving coefficient according to the first correction displacement to obtain a second driving coefficient;

[0128] determine a second driving duration and a second driving direction of the driving motor according to the first correction displacement, the position signal and the second driving coefficient;

[0129] control the liftable radar to lift for the second time by the second driving duration and the second driving direction.

[0130] It should be noted that the information interaction and execution process between the above units are based on the same concept as the method embodiments of the present application, and the specific functions and technical effects brought by them can be referred to the method embodiments part. Therefore, no further description is given here.

[0131] Please refer to Figure 6 , Figure 6 A structural schematic diagram of a target device is provided in the embodiments of the present application. As shown in Figure 6 , the target device 6 provided by the embodiments of the present application can include a processor 60, a memory 61, and a computer program 62 stored in the memory 61 and executable on the processor 60, for example, a program corresponding to the device positioning method. The processor 60 implements the steps described above in the device positioning method embodiments when executing the computer program 62, for example, S101-S105 as shown in Figure 1 . Alternatively, the processor 60 implements the functions of each module / unit in the device positioning apparatus embodiments when executing the computer program 62, for example, the functions of the units 51-55 as shown in Figure 5 .

[0132] For example, the computer program 62 can be divided into one or more modules / units, one or more modules / units are stored in the memory 61 and executed by the processor 60 to complete the present application. One or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which is used to describe the execution process of the computer program 62 in the target device 6. For example, the computer program 62 can be divided into a first acquisition unit 51, a first determination unit 52, a second determination unit 53, a control unit 54, and a third determination unit 55. The specific functions of each unit can be referred to the related description in the corresponding embodiments, which will not be described here. Figure 5

[0133] Those skilled in the art can understand, Figure 6 that the target device 6 is only an example and does not constitute a limitation on the target device 6, and can include more or fewer components than shown, or combine certain components, or different components.

[0134] ​The processor 60 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0135] The memory 61 can be an internal storage unit of the target device 6, for example, a hard disk or a memory of the target device 6. The memory 61 can also be an external storage device of the target device 6, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card or a flash card, etc. equipped on the target device 6. Further, the memory 61 can also include both the internal storage unit and the external storage device of the target device 6. The memory 61 is used to store computer programs and other programs and data required by the target device. The memory 61 can also be used to temporarily store data that has been output or will be output.

[0136] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units is taken as an example, and in actual application, the above functions can be completed by different functional units according to needs, that is, the internal structure of the device positioning apparatus is divided into different functional units to complete all or part of the functions described above. Each functional unit in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or in the form of software functional unit. In addition, the specific names of each functional unit are only for easy distinction, and do not limit the protection scope of the present application. The specific working process of the unit in the above system can refer to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0137] The embodiment of the present application also provides a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps in each of the method embodiments.

[0138] The embodiment of the present application provides a computer program product, when the computer program product runs on a terminal device, causes the terminal device to realize steps in each method embodiment.

[0139] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in a certain embodiment can be referred to the relevant description of other embodiments.

[0140] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in the present application can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software mode depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0141] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A device positioning method, characterized in that: Applied to a target device provided with a target structure and a liftable radar, wherein the target structure enables different radar field of view angles of the liftable radar to correspond to different radar lift positions; the method comprises: Acquiring a first bottom surface height of a target obstacle, wherein the moving path of the target device passes through a bottom space of the target obstacle; determining a first target lifting position of the liftable radar according to the first bottom surface height, and controlling the liftable radar to perform a first lift according to the first target lifting position; After the elevating radar completes the first lift, obtaining a first radar field of view angle of the elevating radar, and determining a first correction displacement according to a first lift position corresponding to the first radar field of view angle and the first target lift position; controlling the elevating radar to perform a second lift according to the first correction displacement, and controlling the target device to move in the bottom space of the target obstacle after the elevating radar completes the second lift; During the movement of the target device in the bottom space of the target obstacle, positioning data of the target device is determined according to target mapping data detected by the liftable radar.

2. The method according to claim 1, characterized in that After controlling the target device to move in the bottom space of the target obstacle, the method further includes: If the bottom height of the target obstacle changes from the first bottom height to the second bottom height, obtaining a second radar field of view angle of the elevating radar; determining a second target lifting position of the liftable radar according to the second bottom surface height, and controlling the liftable radar to perform a third lift according to the second target lifting position; After the elevating radar completes the third lift, obtaining a third radar field of view angle of the elevating radar, and determining a second correction displacement according to the second radar field of view angle, the third radar field of view angle, and the second target lift position; The liftable radar is controlled to perform a fourth lift according to the second correction displacement, and after the liftable radar completes the fourth lift, the positioning data of the target device is determined according to the target mapping data.

3. The method according to claim 2, characterized in that The target structure is a three-dimensional fan-shaped notch structure arranged at the edge of the target device. The first edge surface and the second edge surface in the three-dimensional fan-shaped notch structure are both inclined surfaces with preset inclination angles. The liftable radar is arranged in the target structure.

4. The method according to claim 3, characterized in that The determining of the second correction displacement according to the second radar field of view angle, the third radar field of view angle, and the second target lifting position includes: determining an actual lifting displacement of the liftable radar according to the second radar field of view angle, the third radar field of view angle, the preset tilt angle, and the radius of the liftable radar; The second correction displacement is determined according to the second lifting position corresponding to the second radar field of view angle, the second target lifting position, and the actual lifting displacement.

5. The method according to claim 2, characterized in that The target device is further provided with a distance sensor arranged in the direction of device movement; the first bottom surface height and the second bottom surface height are both determined by the distance sensor.

6. The method according to any one of claims 1 to 5, characterized in that The target device is further provided with a rotating screw for driving the liftable radar to move up and down, a driving motor for driving the rotating screw, and a lift position detection device, wherein the lift position detection device is configured to output a position signal corresponding to the preset lift position when the liftable radar is lifted to the preset lift position; The controlling the liftable radar to perform a first lift according to the first target lift position includes: Obtaining a first driving coefficient for describing the relationship between the lifting displacement and the driving time of the driving motor; determining a first driving duration and a first driving direction of the driving motor according to the first target lifting position, the position signal, and the first driving coefficient; The liftable radar is controlled to perform a first lift according to the first driving duration and the first driving direction.

7. The method according to claim 6, characterized in that The controlling the liftable radar to perform a second lift according to the first corrected displacement includes: Correcting the first driving coefficient according to the first correction displacement to obtain a second driving coefficient; determining a second driving duration and a second driving direction of the driving motor according to the first correction displacement, the position signal, and the second driving coefficient; The liftable radar is controlled to perform a second lift according to the second driving duration and the second driving direction.

8. A device positioning device, characterized in that: Applicable to a target device provided with a target structure and a liftable radar, wherein the target structure enables different radar field of view angles of the liftable radar to correspond to different radar lift positions; The device comprises: a first acquiring unit, configured to acquire a first bottom height of a target obstacle, wherein the moving path of the target device passes through a bottom space of the target obstacle; a first determining unit, configured to determine a first target lifting position of the liftable radar according to the first bottom surface height, and control the liftable radar to perform a first lift according to the first target lifting position; a second determining unit, configured to obtain a first radar field of view angle of the elevatable radar after the elevatable radar completes a first lift, and determine a first correction displacement according to a first lift position corresponding to the first radar field of view angle and the first target lift position; a control unit, configured to control the elevating radar to perform a second lift according to the first correction displacement, and control the target device to move in the bottom space of the target obstacle after the elevating radar completes the second lift; The third determining unit is configured to determine the positioning data of the target device according to the target mapping data detected by the elevating radar during the movement of the target device in the bottom space of the target obstacle.

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

10. A computer program product, characterized in that When the computer program product is executed by a processor, each step of the device positioning method according to any one of claims 1 to 7 is implemented.

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