Radar and marker-based positioning method, apparatus and device, and storage medium

Abstract

The present invention relates to the technical field of radar positioning in robotic lawn mowers. Disclosed are a radar and marker-based positioning method, apparatus and device, and a storage medium, solving the problem in the prior art that radars cannot perform positioning in open and unobstructed scenarios. The radar and marker-based positioning method comprises the following steps: step S1, receiving an information access request; step S2, parsing the information access request to obtain an image of a current application scenario, and determining a running range; step S3, determining the number of markers on the basis of a radar and the running range; and step S4, performing modeling to obtain a map, and a robotic lawn mower performing positioning by means of the map and the markers. According to the present invention, during use, spatial structure information is established for a radar, and positioning is performed in open and unobstructed scenarios on the basis of an established map and markers.

Description

A positioning method, device, equipment and storage medium based on radar and marker Technical Field

[0001] The present invention belongs to the technical field of radar positioning in lawn mowing robots, and in particular relates to a positioning method, device, equipment and storage medium based on radar and a marker. Background Art

[0002] With the development of artificial intelligence technology, people's demands for quality of life are getting higher and higher. In the past, mowing the lawn was a boring task that required a lot of time and effort. With the emergence of lawn mowing robots, this task has become more convenient and efficient. In other words, the use of lawn mowing robots is becoming more and more common.

[0003] As an automated intelligent device, a lawnmower robot requires positioning during operation to facilitate the determination of its mowing path and work area. However, positioning may be difficult in certain environments. For example, in open areas, where the radar's effective detection radius contains nothing but lawns, radar positioning solutions lack spatial structure information, making positioning impossible.

[0004] Summary of the Invention

[0005] The purpose of the present invention is to provide a positioning method based on radar and markers, which solves the problem that existing radars cannot locate in open scenes.

[0006] In order to achieve the above object, the technical solution of the present invention is achieved as follows:

[0007] A positioning method based on radar and markers for a lawn mowing robot includes the following steps:

[0008] Step S1: receiving an information access request;

[0009] Step S2: parsing the information access request, obtaining an image of the current application scenario, and determining an operating range;

[0010] Step S3: determining the number of markers according to the radar and the operating range;

[0011] Step S4: Modeling to obtain a map, and the mowing robot is positioned using the map and the markers.

[0012] In some embodiments, step S3 includes:

[0013] Step S31: Draw a circle within the operating range and its periphery with the radar effective detection radius to cover the operating range;

[0014] Step S32: placing the marker at the center of the circle for radar detection.

[0015] In some embodiments, in step S32, the radar can detect at least three of the markers at any position within the operating range.

[0016] In some embodiments, step S4 includes:

[0017] Step S41: Modeling and obtaining a map based on the application scenario and the markers set within the operating range;

[0018] Step S42: The lawn mowing robot is positioned by using nearby markers when mowing.

[0019] In some embodiments, the step 41 includes the following steps:

[0020] Step S411: Acquire the radar detection data and perform preprocessing;

[0021] Step S412: performing marker feature extraction, feature matching, and three-point positioning on the detection data in step S411 to optimize the image;

[0022] Step S413: Save the optimized images in step S412 and construct a map by splicing them together.

[0023] In some embodiments, the application scenario is an open scene or a single-sided open scene.

[0024] In some embodiments, the detection angle of the radar in the vertical direction is less than or equal to -7° and greater than or equal to +15°.

[0025] In some embodiments, the marker is at least 30 cm high and taller than grass, and the cross-sectional width of the marker is at least 10 cm.

[0026] In some embodiments, the marker is a reflective column, a reflective sticker, a fence, or any combination thereof.

[0027] In order to achieve the above object, another technical solution of the present invention is achieved as follows:

[0028] A positioning device using a positioning method based on radar and markers, comprising:

[0029] Access receiving module: used to receive information access requests;

[0030] Parsing module: Parsing the information access request, obtaining the current application scene image, and determining the operating range;

[0031] A marker determination module: determines the number of markers based on the radar and the operating range;

[0032] Modeling and positioning module: a map is obtained based on the markers and the application scenario, and positioning is performed using the map and the markers.

[0033] In order to achieve the above object, another technical solution of the present invention is achieved as follows:

[0034] A radar and marker-based positioning device includes a memory, a processor, and a radar and marker-based positioning program stored in the memory and executable on the processor, wherein the radar and marker-based positioning program is configured to implement a radar and marker-based positioning method.

[0035] In order to achieve the above object, another technical solution of the present invention is achieved as follows:

[0036] A computer-readable storage medium storing a computer program, which, when executed by a processor, can implement the steps in the radar and marker-based positioning method.

[0037] Compared with the existing technology, when the present invention is in use, by receiving and parsing information access requests, it can obtain the current image in the open scene and determine the operating range of the lawn mowing robot; in addition, based on the operating range, the number of markers can be determined; thus, a map can be built based on the scene and markers, spatial structure information can be established for the radar, and positioning can be performed in the open scene based on the established map and markers. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] FIG1 is a flowchart of a positioning method based on radar and markers provided in Example 1 of the present invention;

[0039] FIG2 is a schematic diagram of the radar and operating range in the positioning method based on radar and markers provided in Example 1 of the present invention. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0041] Example 1

[0042] An embodiment of the present invention provides a positioning method based on radar and markers for a lawn mowing robot, as shown in FIG1 , including the following steps:

[0043] Step S1: receiving an information access request;

[0044] It should be noted that in a specific implementation, an information access request is a user inputting a corresponding instruction on a user operation interface or a terminal device APP, which connects the user operation interface or the terminal device APP to a corresponding device. The information access request includes data characteristic information of the access target, and the device determines the hardware and software data information involved in the access request based on the data characteristic information of the access target. In this embodiment, the lawn mower robot receives the information access request and determines that the hardware involved in the access request is a radar.

[0045] In other embodiments, the device may also be used for positioning robots in other open spaces, such as a sweeping robot;

[0046] Step S2: parsing the information access request, obtaining an image of the current application scenario, and determining an operating range;

[0047] More specifically, the radar in the device parses the information access request to obtain information access data to determine the current application scene and the operating range. In this embodiment, the radar takes a picture of the current application scene to obtain an image, confirming that there are no objects other than the lawn within the radar detection radius, and then determines the operating range based on the information access request. The operating range is the area determined by the mowing robot to mow this time.

[0048] In other embodiments, the radar of the sweeping robot takes a picture of the current application scene to determine that there are no objects other than the floor within the radar detection radius, and then determines the area that needs to be cleaned in the current scene according to the information access request;

[0049] Step S3: determining the number of markers according to the radar and the operating range;

[0050] Step S31: Draw a circle within the operating range and its periphery with the radar effective detection radius to cover the operating range;

[0051] Step S32: placing the marker at the center of the circle for radar detection; the radar can detect at least three of the markers at any position within the operating range;

[0052] It should be noted that in a specific implementation, as shown in FIG2 , the black frame is the operating range determined by the mowing robot, and the circular area is the radar detection range. Taking the operating range of 200m*200m as an example, the effective detection radius of the radar is 50m. A circle is drawn in 200m*200m and its surrounding area with an effective detection radius of 50m to cover 200m*200m; a marker is placed at the center of the circle for radar detection to ensure that the radar can detect at least three markers at any position within 200m*200m. At this time, the number of markers required is 36. As shown in FIG1 , when the mowing robot is in the four corners of the operating range, the mowing robot's radar can detect at least three markers, which also ensures that when the mowing robot is in other areas of the operating range, the radar can detect more than three markers. In other embodiments not shown, the operating range may also be other ranges, and the effective detection radius of the radar may also be other values, as long as the radar can detect at least three markers.

[0053] Step S4: Modeling to obtain a map, and positioning the mowing robot using the map and the markers;

[0054] Step S41: Modeling and obtaining a map based on the application scenario and the markers set within the operating range;

[0055] Step S411: Acquire the radar detection data and perform preprocessing;

[0056] Step S412: performing marker feature extraction, feature matching, and three-point positioning on the detection data in step S411 to optimize the image; the marker feature extraction is to obtain the relative position, and the three-point positioning is to obtain the global position;

[0057] Step S413: saving the optimized images in step S412 and constructing a map by splicing them together;

[0058] Step S42: The mowing robot is positioned by using nearby markers when mowing the lawn;

[0059] Furthermore, the application scenario is an open, wide-open scene or a single-sided, wide-open scene, and the radar has no other objects within its detection radius except the lawn. In other embodiments, the positioning method of this embodiment can also be applied to a sweeping robot, where the sweeping robot's radar takes a picture of the current application scenario to determine that there are no other objects within the radar's detection radius except the floor.

[0060] Furthermore, the radar's detection angle in the vertical direction is less than or equal to -7° and greater than or equal to +15°, which can ensure that the radar can scan objects with a certain height in the vertical direction.

[0061] Furthermore, the marker is at least 30 cm high and higher than the grass, and the cross-sectional width of the marker is at least 10 cm to ensure that the radar can scan the marker.

[0062] Furthermore, the marker is a reflective column, reflective sticker, fence or any combination thereof, or other object that can serve as a marker, and the shape of the marker is a cylinder, a cuboid, a prism or a polygonal column; but is not limited to the shapes listed above.

[0063] Example 2

[0064] An embodiment of the present invention provides a positioning device using the radar and marker-based positioning method of Application Example 1, including:

[0065] Access receiving module: used to receive information access requests;

[0066] Parsing module: Parsing the information access request, obtaining the current application scene image, and determining the operating range;

[0067] A marker determination module: determines the number of markers based on the radar and the operating range;

[0068] Modeling and positioning module: a map is obtained based on the markers and the application scenario, and positioning is performed using the map and the markers.

[0069] It should be understood that the above is only an example and does not constitute any limitation to the technical solution of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any limitation on this.

[0070] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of it according to actual needs to achieve the purpose of the embodiment scheme, and no limitation is made here.

[0071] In addition, for technical details not fully described in this embodiment, reference can be made to the chip encryption protection method provided in any embodiment of the present invention, and will not be repeated here.

[0072] In addition, it should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0073] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, or of course by hardware, but in many cases the former is a more preferred embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk) and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0074] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A positioning method based on radar and markers for a lawn mowing robot, characterized in that, It includes the following steps: Step S1: Receive an information access request; Step S2: Analyze the information access request to obtain an image of the current application scenario and determine the operating range; Step S3: Determine the number of markers based on the radar and the operating range; Step S4: Model to obtain a map, and the lawn mowing robot locates through the map and the markers.

2. The positioning method based on radar and markers according to claim 1, wherein The said Step S3 includes: Step S31: Draw circles with the effective detection radius of the radar within the operating range and its periphery to cover the operating range; Step S32: Place the markers at the center of the circle for radar detection.

3. The positioning method based on radar and markers according to claim 2, wherein In the said Step S32, the radar can detect at least three of the said markers at any position within the operating range.

4. The positioning method based on radar and markers according to any one of claims 1-3, characterized in that, The said Step S4 includes: Step S41: Model to obtain a map according to the application scenario and the markers set within the operating range; Map; Step S42: The lawn mowing robot locates through the markers near it when mowing the lawn.

5. The positioning method based on radar and markers according to claim 4, characterized in that, The said 41 includes the following steps: Step S411: Obtain the detection data of the radar and perform preprocessing; Step S412: Extract marker features, perform feature matching, and perform three-point positioning on the detection data in Step S411, and then optimize the image; Step S413: Save the optimized image in Step S412 and splice and construct to obtain a map.

6. The positioning method based on radar and markers according to claim 5, wherein The application scenario is an open and empty scenario or a one-sided empty scenario.

7. The positioning method based on radar and markers according to claim 5, characterized in that, The detection angle of the radar in the vertical direction is less than or equal to -7° and greater than or equal to +15°.

8. The positioning method based on radar and markers according to any one of claims 1-3, characterized in that, The marker is at least 30 cm and higher than the grass, and the cross-sectional width of the marker is at least 10 cm.

9. The positioning method based on radar and markers according to any one of claims 1-3, characterized in that, The marker is a reflective post, a reflective sticker, a fence or any combination.

10. A positioning device applying the positioning method based on radar and markers according to any one of claims 1-9, characterized in that, It includes: An access receiving module: used to receive an information access request; An analysis module: analyze the said information access request to obtain an image of the current application scenario and determine the operating Range; A marker determination module: determine the number of markers based on the radar and the operating range; A modeling and positioning module: model to obtain a map according to the marker and the application scenario, and locate through the map and the marker.

11. A positioning device based on radar and markers, characterized in that, It includes a memory, a processor, and a positioning program based on radar and markers stored in the memory and executable on the processor. The positioning program based on radar and markers is configured to implement the positioning method based on radar and markers according to any one of claims 1 to 9.

12. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it can implement the steps in the positioning method based on radar and markers according to any one of claims 1 to 9.

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