A device positioning method, apparatus, device, and computer program product

Abstract

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

Description

Technical Field

[0001] This application belongs to the field of positioning technology, and in particular relates to a device positioning method, apparatus, equipment and computer program product. Background Technology

[0002] In order to determine the positioning data of the target device during its movement in the space under the target obstacle, it is usually necessary to control the radar in the target device to rise and fall to the target position before the target device moves to the space under the target obstacle. Then, during the movement of the target device in the space under the target obstacle, the positioning data of the target device is determined by the radar that remains at the target position.

[0003] However, current target equipment cannot accurately determine the radar's altitude. Therefore, in order to avoid the radar colliding with the target obstacle during its movement in the space below the target obstacle, existing technology usually conservatively controls the radar to rise and fall to a lower altitude. At a lower altitude, the radar can obtain a smaller field of view, thus reducing the positioning accuracy of the target equipment. Summary of the Invention

[0004] In view of this, embodiments of this application provide a device positioning method, apparatus, equipment, and computer program product to solve the technical problem of low positioning accuracy of existing target devices.

[0005] In a first aspect, embodiments of this application provide a device positioning method, applied to a target device having a target structure and a liftable radar, wherein the target structure causes different radar field of view angles of the liftable radar to correspond to different radar lifting positions; the method includes:

[0006] The first bottom surface height of the target obstacle is obtained, and the movement path of the target device passes through the bottom space of the target obstacle;

[0007] Based on the height of the first bottom surface, the first target lifting position of the liftable radar is determined, and based on the first target lifting position, the liftable radar is controlled to perform the first lifting and lowering.

[0008] After the liftable radar completes its first lift, the first radar field of view of the liftable radar is obtained, and the first correction displacement is determined based on the first lift position corresponding to the first radar field of view and the first target lift position.

[0009] Based on the first correction displacement, the liftable radar is controlled to perform a second lift, and after the liftable radar completes the second lift, the target device is controlled to move in the bottom space of the target obstacle;

[0010] During the movement of the target device in the space below the target obstacle, the positioning data of the target device is determined based on the target mapping data detected by the liftable radar.

[0011] Optionally, after controlling the target device to move in the space under the target obstacle, the method further includes:

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

[0013] Based on the height of the second bottom surface, the second target lifting position of the liftable radar is determined, and based on the second target lifting position, the liftable radar is controlled to lift a third time.

[0014] After the liftable radar completes its third lift, the third radar field of view of the liftable radar is obtained, and the second correction displacement is determined based on the second radar field of view, the third radar field of view, and the second target lift position.

[0015] Based on the second correction displacement, the liftable radar is controlled to perform a fourth lift, and after the liftable radar completes the fourth lift, the positioning data of the target device is determined based on the target mapping data.

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

[0017] Optionally, determining the second correction displacement based on the second radar field of view, the third radar field of view, and the second target elevation / reclining position includes:

[0018] The actual lifting displacement of the liftable radar is determined based on the second radar field of view, the third radar field of view, the preset tilt angle, and the radius of the liftable radar.

[0019] The second correction displacement is determined based on the second elevation position corresponding to the second radar field of view, the second target elevation position, and the actual elevation displacement.

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

[0021] Optionally, the target device further includes a rotary screw for driving the liftable radar to rise and fall, a drive motor for driving the rotary screw, and a lifting position detection device. The lifting position detection device is used to output a position signal corresponding to the preset lifting position when the liftable radar rises and falls to a preset lifting position. The step of controlling the liftable radar to perform its first rise and fall based on the first target lifting position includes:

[0022] Obtain a first driving coefficient to describe the relationship between the lifting displacement and the driving time of the drive motor;

[0023] The first driving duration and the first driving direction of the drive motor are determined based on the first target lifting position, the position signal, and the first driving coefficient.

[0024] The liftable radar is controlled to perform its first lift-down operation based on the first drive duration and the first drive direction.

[0025] Optionally, controlling the liftable radar to perform a second lifting based on the first corrected displacement includes:

[0026] Based on the first correction displacement, the first driving coefficient is corrected to obtain the second driving coefficient;

[0027] The second driving duration and the second driving direction of the drive motor are determined based on the first corrected displacement, the position signal, and the second driving coefficient.

[0028] The liftable radar is controlled to perform a second lift by using the second drive duration and the second drive direction.

[0029] Secondly, embodiments of this application provide a device positioning apparatus, applied to a target device having a target structure and a liftable radar, wherein the target structure causes different radar field of view angles of the liftable radar to correspond to different radar lifting positions; the apparatus includes:

[0030] The first acquisition unit is used to acquire the first bottom surface height of the target obstacle, and the movement path of the target device passes through the bottom space of the target obstacle;

[0031] The first determining unit is used to determine the first target lifting position of the liftable radar based on the first bottom surface height, and to control the liftable radar to perform the first lifting based on the first target lifting position;

[0032] The second determining unit is used to acquire the first radar field of view of the liftable radar after the liftable radar completes the first lift, and to determine the first correction displacement based on the first lift position corresponding to the first radar field of view and the first target lift position.

[0033] The control unit is used to control the liftable radar to perform a second lift based on the first correction displacement, and after the liftable radar completes the second lift, control the target device to move in the bottom space of the target obstacle;

[0034] The third determining unit is used to determine the positioning data of the target device based on the target mapping data detected by the liftable radar during the movement of the target device in the space below the target obstacle.

[0035] Thirdly, embodiments of this application provide a target device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the device positioning method as described in any of the first aspects above.

[0036] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the device positioning method as described in any of the first aspects above.

[0037] Fifthly, embodiments of this application provide a computer program product that, when run on an electronic device, causes the electronic device to perform the steps of the device positioning method as described in any of the first aspects above.

[0038] The device positioning method, apparatus, device, and computer program product provided in this application have the following beneficial effects:

[0039] The device positioning method provided in this application embodiment is applied to a target device equipped with a target structure and a liftable radar. The target structure allows different radar field of view angles of the liftable radar to correspond to different radar lifting positions. In the device positioning method provided in this application embodiment, the first bottom surface height of the target obstacle is first obtained, wherein the movement path of the target device passes through the bottom space of the target obstacle. Then, based on the first bottom surface height, the first target lifting position of the liftable radar is determined, and based on the first target lifting position, the liftable radar is controlled to perform a first lifting. After the liftable radar completes the first lifting, the first radar field of view of the liftable radar is obtained, and based on the first lifting position and the first target lifting position corresponding to the first radar field of view angle, a first correction displacement is determined. Then, based on the first correction displacement, the liftable radar is controlled to perform a second lifting, and after the liftable radar completes the second lifting, 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, the positioning data of the target device is determined based on the target mapping data detected by the liftable radar. Because the target device in this method is equipped with a target structure that allows different radar field of view angles of the liftable radar to correspond to different radar lifting positions, the target device can accurately obtain the lifting position of the radar based on the radar field of view angle of the liftable radar. Therefore, after the liftable radar completes its first lifting, it can be controlled to perform a second lifting based on the first lifting position corresponding to the first radar field of view angle and the first target lifting position, enabling the liftable radar to accurately lift to the first target lifting position. Since this method allows the liftable radar to accurately lift to the first target lifting position, the first target lifting position can be determined at a relatively high height while ensuring that the liftable radar does not collide with the bottom of the target obstacle. This allows the liftable radar to obtain a larger field of view angle during the target device's movement in the space under the target obstacle, thereby improving the positioning accuracy of the target device. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A flowchart illustrating the implementation of the device positioning method provided in this application embodiment;

[0042] Figure 2 This is a schematic diagram of the structure of a target device provided in an embodiment of this application;

[0043] Figure 3This is a schematic diagram of the structure of another target device provided in an embodiment of this application;

[0044] Figure 4 A schematic diagram illustrating the relationship between radar field of view and radar rise / fall position, provided for an embodiment of this application;

[0045] Figure 5 This is a schematic diagram of the structure of a device positioning apparatus provided in an embodiment of this application;

[0046] Figure 6 This is a schematic diagram of the structure of a target device provided in an embodiment of this application. Detailed Implementation

[0047] It should be noted that the terminology used in the embodiments of this application is only for explaining specific embodiments of this application and is not intended to limit this application. In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more, "at least one" or "one or more" means one, two or more. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0048] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0049] The device positioning method provided in this application can be implemented by a target device equipped with a target structure and a liftable radar. For example, the target device may include, but is not limited to, a robotic vacuum cleaner equipped with a target structure and a liftable radar.

[0050] The device positioning method provided in this application can be applied to scenarios where it is necessary to locate a target device moving in the space under a target obstacle. For example, the target device can be a robotic vacuum cleaner, and the target obstacle can be a chair. The robotic vacuum cleaner needs to move within the space under the chair during operation. When it is necessary to locate the robotic vacuum cleaner, the various steps of the device positioning method provided in this application can be executed by the robotic vacuum cleaner.

[0051] Please see Figure 1 , Figure 1 This is a flowchart illustrating the implementation of the device positioning method provided in this application embodiment. This device positioning method can be applied to target devices equipped with a target structure and a liftable radar. The target structure allows different radar field of view angles of the liftable radar to correspond to different radar lifting positions.

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

[0053] Please see Figure 2 , Figure 2 This is a schematic diagram of the structure of a target device provided in an embodiment of this application. Figure 2 As shown, the target device includes the target structure described in this implementation. The target structure described in this implementation includes a cylindrical, retractable radar.

[0054] Please see Figure 3 , Figure 3 This is a schematic diagram of another target device provided in an embodiment of this application. Figure 3 This is a schematic diagram of the target device from another perspective. For example... Figure 3 As shown, both the first and second edge surfaces in the target structure are inclined surfaces with a preset tilt angle. In practical applications, the preset tilt angle can be set according to actual needs.

[0055] Please see Figure 4 , Figure 4 This is a schematic diagram illustrating the relationship between the radar field of view and the radar elevation / reclining position, provided as an embodiment of this application. Figure 4 It can be seen that by setting a target structure in the target device, different radar field of 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 by the radar field of view angle.

[0056] The device positioning method may include steps S101 to S105, as detailed below:

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

[0058] In this embodiment of the application, before the retractable radar in the target device enters the bottom space of the target obstacle, the target device can first obtain the first bottom height of the target obstacle.

[0059] In one possible implementation, the target device may also be equipped with a distance sensor positioned in the direction of device movement. For example... Figure 2 As shown, the distance sensor in the target device is positioned in the direction of movement of the target device. When it is necessary to obtain the first bottom surface height of the target obstacle, the target device can control its movement so that the distance sensor of the target device is in the bottom space of the target obstacle, and the retractable radar of the target device is not in the bottom space of the target obstacle (to avoid collision between the retractable radar and the target obstacle). After that, the target device can obtain the first bottom surface height of the target obstacle through the distance sensor.

[0060] In S102, the first target lifting position of the liftable radar is determined based on the height of the first bottom surface, and the liftable radar is controlled to lift for the first time based on the first target lifting position.

[0061] In this embodiment of the application, after obtaining the first bottom surface height of the target obstacle, the target device can first determine the first target lifting position of the liftable radar based on the first bottom surface height.

[0062] In one possible implementation, the target device can obtain a preset remaining distance, and then determine the first target lifting position of the liftable radar based on the first bottom surface height and the remaining distance, to ensure that the liftable radar will not collide with the target obstacle during its movement in the space under the target obstacle. For example, the first bottom surface height of the target obstacle can be 20 centimeters, and the remaining distance can be 1 centimeter. Based on this, the first target lifting position determined by the target device can be a position 19 centimeters above the bottom surface.

[0063] After determining the first target elevation position of the liftable radar, the target equipment can control the liftable radar to perform its first elevation based on the first target elevation position.

[0064] In one possible implementation, the target device may further include a rotary screw for driving the liftable radar to rise and fall, a drive motor for driving the rotary screw, and a lifting position detection device. The lifting position detection device can be used to output a position signal corresponding to the preset lifting position when the liftable radar rises and falls to a preset lifting position.

[0065] For example, the preset lifting positions may include an upper limit, a middle limit, and a lower limit. The upper limit can be the highest position that the liftable radar can rise to, the middle limit can be the position where the liftable radar is just above the fuselage of the target device, and the lower limit can be the lowest position that the liftable radar can descend to.

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

[0067] In this implementation, the target device can control the liftable radar to perform its first lift-up and lowering based on the first target's lift-up and lowering position in the following way:

[0068] First, the target device can acquire a first driving coefficient describing the relationship between the lift-up displacement of the liftable radar and the driving time of the drive motor. This first driving coefficient can be pre-stored in the target device. It should be noted that in practical applications, the relationship between the lift-up displacement and the driving time of the drive motor is approximately linear, not perfectly linear. Therefore, the lift-up displacement estimated using the first driving coefficient and the driving time of the drive motor will have an error compared to the actual lift-up displacement.

[0069] Subsequently, the target device can determine the first driving duration and first driving direction of the drive motor based on the first target lifting position, position signal, and first driving coefficient. Then, it controls the liftable radar to perform its first lifting motion based on the first driving duration and first driving direction. For example, if the first target lifting position is 19cm, the upper limit is 30cm, the middle limit is 20cm, and the lower limit is 10cm, the target device can first control the liftable radar to lift to the middle limit closest to the first target lifting position. After receiving the position signal corresponding to the middle limit, the target device can determine that it still needs to descend 1cm to reach the first target lifting position (that is, determine the first driving direction as the descent direction). Then, the target device can determine the first driving duration based on the first driving coefficient, and then control the liftable radar to perform its first lifting motion based on the determined first driving direction and first driving duration.

[0070] By setting the preset lifting position as described above, the liftable radar can be lifted and lowered to the first target lifting position as accurately as possible. However, since the relationship between the lifting displacement and the driving time of the drive motor is approximately linear rather than completely linear, there will still be some error between the position of the liftable radar and the first target lifting position after the liftable radar completes the first lifting and lowering.

[0071] In S103, after the liftable radar completes its first lift, the first radar field of view of the liftable radar is obtained, and the first correction displacement is determined based on the first lift position and the first target lift position corresponding to the first radar field of view.

[0072] In this embodiment, since there will still be a certain error between the position of the liftable radar and the position of the first target after the liftable radar completes its first lift, the target device can acquire the first radar field of view of the liftable radar after the first liftable radar completes its first lift. Then, it can determine the first lift position corresponding to the first radar field of view based on the first radar field of view, and then determine the first correction displacement based on the first lift position corresponding to the first radar field of view and the position of the first target. Here, the first radar field of view of the liftable radar is the radar field of view after the liftable radar completes its first lift.

[0073] For example, if the first target elevation position is 19cm and the first elevation position corresponding to the first radar field of view is 19.1cm, then the absolute value of the first correction displacement can be determined to be 0.1cm, and the direction of the first correction displacement is the downward direction, which means that the first correction displacement can be determined to be -0.1cm.

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

[0075] In this embodiment of the application, after determining the first correction displacement, the electronic device can control the liftable radar to perform a second lift based on the first correction displacement.

[0076] In one possible implementation, the target device can control the liftable radar to perform a second lift based on the first corrected displacement in the following way:

[0077] First, the target device can correct the first drive coefficient based on the first correction displacement to obtain the second drive coefficient. By correcting the first drive coefficient, the liftable radar can be controlled to perform a second lift more accurately. Then, the target device can determine the second drive duration and second drive direction of the drive motor based on the first correction displacement, the position signal, and the second drive coefficient, and control the liftable radar to perform a second lift using the second drive duration and second drive direction. It should be noted that in some cases, the target device can determine the second drive duration and second drive direction of the drive motor without a position signal. For example, if the first target lift position is 19cm, the middle limit is 20cm, and the first correction displacement is -0.1cm, then the target device only needs the first correction displacement and the second drive coefficient to determine the second drive duration and second drive direction of the drive motor.

[0078] After the retractable radar completes its second ascent and descent, the target device can control its movement within the space beneath the target obstacle. Because the target device's movement within the space beneath the target obstacle is controlled only after the retractable radar has completed its second ascent and descent, collisions between the retractable radar and the target obstacle can be avoided.

[0079] In S105, during the movement of the target device in the space at the bottom of the target obstacle, the positioning data of the target device is determined based on the target mapping data detected by the liftable radar.

[0080] In this embodiment, during the movement of the target device in the space beneath the target obstacle, the target device can determine its positioning data based on target mapping data detected by the liftable radar. The specific method for determining the target device's positioning data based on the target mapping data can be set according to actual needs and is not limited here.

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

[0082] Before the retractable radar in the target device enters the bottom space of the target obstacle, the target device can control the retractable radar to rise to the upper limit. After the retractable radar rises to the upper limit, the target mapping data is detected by the retractable radar, and the target device can store the target mapping data.

[0083] As can be seen from the above, the device positioning method provided in this application embodiment is applied to a target device equipped with a target structure and a liftable radar. The target structure allows different radar field of view angles of the liftable radar to correspond to different radar lifting positions. In the device positioning method provided in this application embodiment, the first bottom surface height of the target obstacle is first obtained, wherein the movement path of the target device passes through the bottom space of the target obstacle. Then, based on the first bottom surface height, the first target lifting position of the liftable radar is determined, and based on the first target lifting position, the liftable radar is controlled to perform a first lifting. After the liftable radar completes the first lifting, the first radar field of view of the liftable radar is obtained, and based on the first lifting position and the first target lifting position corresponding to the first radar field of view angle, a first correction displacement is determined. Then, based on the first correction displacement, the liftable radar is controlled to perform a second lifting, and after the liftable radar completes the second lifting, 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, the positioning data of the target device is determined based on the target mapping data detected by the liftable radar. Because the target device in this method is equipped with a target structure that allows different radar field of view angles of the liftable radar to correspond to different radar lifting positions, the target device can accurately obtain the lifting position of the radar based on the radar field of view angle of the liftable radar. Therefore, after the liftable radar completes its first lifting, it can be controlled to perform a second lifting based on the first lifting position corresponding to the first radar field of view angle and the first target lifting position, enabling the liftable radar to accurately lift to the first target lifting position. Since this method allows the liftable radar to accurately lift to the first target lifting position, the first target lifting position can be determined at a relatively high height while ensuring that the liftable radar does not collide with the bottom of the target obstacle. This allows the liftable radar to obtain a larger field of view angle during the target device's movement in the space under the target obstacle, thereby improving the positioning accuracy of the target device.

[0084] In practical applications, the height of the bottom surface of the target obstacle may change during the movement of the target device in the space beneath the target obstacle. Therefore, in one possible implementation, after controlling the movement of the target device in the space beneath the target obstacle, the device positioning method provided in this embodiment may 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, then the second radar field of view of the liftable radar is obtained.

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

[0087] If the target obstacle's base height changes from a first base height to a second base height, the target device can acquire the second radar field of view of the liftable radar. The second radar field of view of the liftable radar is the radar field of view after the liftable radar completes its second ascent / descent.

[0088] In step b, the second target lifting position of the liftable radar is determined based on the height of the second bottom surface, and the liftable radar is controlled to lift for the third time based on the second target lifting position.

[0089] In this implementation, the 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 liftable radar completes its third lift, the third radar field of view of the liftable radar is obtained, and the second correction displacement is determined based on the second radar field of view, the third radar field of view, and the second target lift position.

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

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

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

[0094] A = (α - β) / 2

[0095] Where A represents the single-sided radar field of view angle, α represents the second radar field of view angle, and β represents the third radar field of view angle.

[0096] After determining the field of view of a single-sided radar, the target device can determine the actual lifting displacement of the lifting radar based on the field of view of the single-sided radar, the preset tilt angle, the radius of the lifting radar, and the second formula.

[0097] The second formula can be:

[0098]

[0099] Where h represents the actual lifting displacement of the liftable radar, r represents the radius of the liftable radar, A represents the field of view of a single radar, and γ represents the preset tilt angle.

[0100] After determining the actual lift-up displacement of the liftable radar, the target equipment can determine the second correction displacement based on the second lift-up position corresponding to the second radar's field of view, the second target's lift-up position, and the actual lift-up displacement of the liftable radar. Specifically, the target equipment can determine the actual position of the liftable radar after the third lift-up based on the second lift-up position and the actual lift-up displacement of the liftable radar, and then determine the second correction displacement based on the actual position of the liftable radar after the third lift-up and the second target's lift-up position.

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

[0102] In this implementation, the specific implementation of the target device "controlling the liftable radar to perform a fourth lift based on the second correction displacement" can be referred to the specific implementation of "controlling the liftable radar to perform a second lift based on the first correction displacement" in S104, and will not be repeated here.

[0103] As can be seen from the above, when the bottom height of the target obstacle decreases, steps a to d can prevent the liftable radar from colliding with the target obstacle. When the bottom height of the target obstacle increases, steps a to d can raise the liftable radar to a new height, thereby obtaining a larger radar field of view and further improving the positioning accuracy of the target device.

[0104] It should be noted that after steps a to d are completed, if the height of the bottom surface of the target obstacle changes again, the target device can refer to the implementation method given in steps a to d to control the liftable radar to rise and fall again.

[0105] Based on the device positioning method provided in the above embodiments, this application further provides a device positioning apparatus for implementing the above method embodiments. This device positioning apparatus can be applied to a target device equipped with a target structure and a liftable radar. The target structure allows different radar field of view angles of the liftable radar to correspond to different radar lifting positions. Please refer to... Figure 5 , Figure 5 This is a schematic diagram of a device positioning apparatus provided in an embodiment of this application. Figure 5 As shown, the device positioning device 50 may 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.

[0106] in:

[0107] The first acquisition unit 51 is used to acquire the first bottom surface height of the target obstacle, and the movement path of the target device passes through the bottom space of the target obstacle.

[0108] The first determining unit 52 is used to determine the first target lifting position of the liftable radar according to the height of the first bottom surface, and control the liftable radar to lift for the first time according to the first target lifting position.

[0109] The second determining unit 53 is used to obtain the first radar field of view of the liftable radar after the liftable radar completes the first lift, and to determine the first correction displacement based on the first lift position and the first target lift position corresponding to the first radar field of view.

[0110] The control unit 54 is used to control the liftable radar to perform a second lift based on the first correction displacement, and after the liftable radar completes the second lift, control the target device to move in the space at the bottom of the target obstacle.

[0111] The third determining unit 55 is used to determine the positioning data of the target device based on the target mapping data detected by the liftable radar during the movement of the target device in the space at the bottom of the target obstacle.

[0112] Optionally, the device positioning device 50 may 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 used to acquire the second radar field of view of the liftable radar if the bottom height of the target obstacle changes from the first bottom height to the second bottom height.

[0114] The fourth determining unit is used to determine the second target lifting position of the liftable radar based on the height of the second bottom surface, and to control the liftable radar to lift for the third time based on the second target lifting position.

[0115] The fifth determining unit is used to obtain the third radar field of view of the liftable radar after the liftable radar completes the third lift, and to determine the second correction displacement based on the second radar field of view, the third radar field of view, and the second target lift position.

[0116] The sixth determining unit is used to control the liftable radar to perform a fourth lift based on the second correction displacement, and after the liftable radar completes the fourth lift, it determines the positioning data of the target equipment based on the target mapping data.

[0117] Optionally, the target structure is a three-dimensional fan-shaped notch structure set 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 tilt angle, and the liftable radar is set in the target structure.

[0118] Optionally, the fifth determining unit is specifically used for:

[0119] The actual lifting displacement of the liftable radar is determined based on the second radar field of view, the third radar field of view, the preset tilt angle, and the radius of the liftable radar.

[0120] The second correction displacement is determined based on the second elevation position corresponding to the second radar field of view, the second target elevation position, and the actual elevation displacement.

[0121] Optionally, the target device is also equipped with a distance sensor positioned in the direction of device movement; the height of the first bottom surface and the height of the second bottom surface are both determined by the distance sensor.

[0122] Optionally, the target device also includes a rotary screw for driving the liftable radar to rise and fall, a drive motor for driving the rotary screw, and a lifting position detection device. The lifting position detection device is used to output a position signal corresponding to the preset lifting position when the liftable radar rises and falls to a preset lifting position; the first determining unit 52 is specifically used for:

[0123] Obtain the first driving coefficient to describe the relationship between lifting displacement and driving time of the drive motor;

[0124] Based on the first target lifting position, position signal, and first drive coefficient, determine the first drive duration and first drive direction of the drive motor;

[0125] The liftable radar is controlled to lift for the first time by controlling the first drive duration and the first drive direction.

[0126] Optionally, the control unit 54 is specifically used for:

[0127] Based on the first correction displacement, the first driving coefficient is corrected to obtain the second driving coefficient;

[0128] The second driving duration and the second driving direction of the drive motor are determined based on the first corrected displacement, the position signal, and the second driving coefficient.

[0129] The liftable radar is controlled to rise and fall a second time by controlling the second drive duration and the second drive direction.

[0130] It should be noted that the information interaction and execution process between the above-mentioned units are based on the same concept as the method embodiments of this application. Their specific functions and technical effects can be referred to the method embodiments section, and will not be repeated here.

[0131] Please see Figure 6 , Figure 6 This is a schematic diagram of the structure of a target device provided in an embodiment of this application. Figure 6 As shown, the target device 6 provided in this embodiment may include: a processor 60, a memory 61, and a computer program 62 stored in the memory 61 and executable on the processor 60, such as a program corresponding to the device positioning method. When the processor 60 executes the computer program 62, it implements the steps described above in the embodiment of the device positioning method, for example... Figure 1 S101 to S105 are shown. Alternatively, when the processor 60 executes the computer program 62, it implements the functions of each module / unit in the above-described device positioning device embodiment, for example... Figure 5 The functions of units 51 to 55 shown.

[0132] For example, computer program 62 can be divided into one or more modules / units, one or more of which are stored in memory 61 and executed by processor 60 to complete this application. One or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of computer program 62 in target device 6. For example, 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. For the specific functions of each unit, please refer to... Figure 5 The relevant descriptions in the corresponding embodiments are not repeated here.

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

[0134] The processor 60 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0135] The memory 61 can be an internal storage unit of the target device 6, such as a hard disk or RAM of the target device 6. The memory 61 can also be an external storage device of the target device 6, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, or flash card equipped on the target device 6. Furthermore, the memory 61 can include both internal storage units and external storage devices 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 will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units is merely an example. In practical applications, the above functions can be assigned to different functional units as needed, that is, the internal structure of the device positioning device can be divided into different functional units to complete all or part of the functions described above. The functional units in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0137] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps in the various method embodiments described above.

[0138] This application provides a computer program product that, when run on a terminal device, enables the terminal device to implement the steps described in the various method embodiments above.

[0139] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.

[0140] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

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

Claims

1. A method for positioning equipment, characterized in that, Applied to target equipment equipped with a target structure and a liftable radar, wherein the target structure allows different radar field of view angles of the liftable radar to correspond to different radar lifting positions; The target structure is a notch structure, and the retractable radar is disposed within the target structure; the method includes: The first bottom height of the target obstacle is obtained, and the movement path of the target device passes through the bottom space of the target obstacle; Based on the height of the first bottom surface, the first target lifting position of the liftable radar is determined, and based on the first target lifting position, the liftable radar is controlled to perform the first lifting and lowering. After the liftable radar completes its first lift, the first radar field of view of the liftable radar is obtained, and the first correction displacement is determined based on the first lift position corresponding to the first radar field of view and the first target lift position. Based on the first correction displacement, the liftable radar is controlled to perform a second lift, and after the liftable radar completes the second lift, the target device is controlled to move in the bottom space of the target obstacle; During the movement of the target device in the space below the target obstacle, the positioning data of the target device is determined based on the 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 space under 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, then the second radar field of view of the liftable radar is obtained; Based on the height of the second bottom surface, the second target lifting position of the liftable radar is determined, and based on the second target lifting position, the liftable radar is controlled to lift a third time. After the liftable radar completes its third lift, the third radar field of view of the liftable radar is obtained, and the second correction displacement is determined based on the second radar field of view, the third radar field of view, and the second target lift position. Based on the second correction displacement, the liftable radar is controlled to perform a fourth lift, and after the liftable radar completes the fourth lift, the positioning data of the target device is determined based on 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 set on the edge of the target device, wherein the first edge surface and the second edge surface of the three-dimensional fan-shaped notch structure are both inclined surfaces with a preset tilt angle.

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

5. The method according to claim 2, characterized in that, The target device is also equipped with a distance sensor positioned in the direction of device movement; the height of the first bottom surface and the height of the second bottom surface 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 also equipped with a rotary screw for driving the liftable radar to rise and fall, a drive motor for driving the rotary screw, and a lifting position detection device. The lifting position detection device is used to output a position signal corresponding to the preset lifting position when the liftable radar rises and falls to a preset lifting position. The step of controlling the liftable radar to perform its first lift based on the first target's lifting position includes: Obtain a first driving coefficient to describe the relationship between the lifting displacement and the driving time of the drive motor; The first driving duration and the first driving direction of the drive motor are determined based on the first target lifting position, the position signal, and the first driving coefficient. The liftable radar is controlled to perform its first lift-down operation based on the first drive duration and the first drive direction.

7. The method according to claim 6, characterized in that, The step of controlling the liftable radar to perform a second lift based on the first corrected displacement includes: Based on the first correction displacement, the first driving coefficient is corrected to obtain the second driving coefficient; The second driving duration and the second driving direction of the drive motor are determined based on the first corrected displacement, the position signal, and the second driving coefficient. The liftable radar is controlled to perform a second lift by using the second drive duration and the second drive direction.

8. A device positioning apparatus, characterized in that, Applied to target equipment equipped with a target structure and a liftable radar, wherein the target structure allows different radar field of view angles of the liftable radar to correspond to different radar lifting positions; The target structure is a notched structure, and the retractable radar is disposed within the target structure; the device includes: The first acquisition unit is used to acquire the first bottom surface height of the target obstacle, and the movement path of the target device passes through the bottom space of the target obstacle; The first determining unit is used to determine the first target lifting position of the liftable radar based on the first bottom surface height, and to control the liftable radar to perform the first lifting based on the first target lifting position; The second determining unit is used to acquire the first radar field of view of the liftable radar after the liftable radar completes the first lift, and determine the first correction displacement based on the first lift position corresponding to the first radar field of view and the first target lift position. The control unit is used to control the liftable radar to perform a second lift based on the first correction displacement, and after the liftable radar completes the second lift, control the target device to move in the space at the bottom of the target obstacle; The third determining unit is used to determine the positioning data of the target device based on the target mapping data detected by the liftable radar during the movement of the target device in the space below 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, characterized in that, When the processor executes the computer program, it implements each step of the device positioning method as described in any one of claims 1 to 7.

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

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