CN112285739A - Data processing method, device, equipment and storage medium - Google Patents
Data processing method, device, equipment and storage medium Download PDFInfo
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- CN112285739A CN112285739A CN202011305116.8A CN202011305116A CN112285739A CN 112285739 A CN112285739 A CN 112285739A CN 202011305116 A CN202011305116 A CN 202011305116A CN 112285739 A CN112285739 A CN 112285739A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
The embodiment of the invention discloses a data processing method, a data processing device, data processing equipment and a storage medium. The method comprises the steps of respectively obtaining first data information of a first plane area collected by a first laser radar and second data information of a second plane area collected by a second laser radar, wherein the first laser radar and the second laser radar are arranged on two opposite sides of the autonomous mobile equipment, and the total plane area of the first plane area and the second plane area at least covers the plane area where the autonomous mobile equipment is located; according to the acquisition sequence of the second laser radar, matching the second data information with the first data information to obtain fusion data information which forms 360 degrees around the autonomous mobile equipment; and generating a plane map according to the fusion data information. According to the scheme, the second data information and the first data information are matched according to the acquisition sequence of the second laser radar to obtain the fused data information, and the surrounding plane map is generated based on the information, so that the accuracy of the plane map is improved, and the accuracy of positioning is further improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of intelligent robots, in particular to a data processing method, a data processing device, data processing equipment and a storage medium.
Background
With the development of intelligent robot technology, AGVs (automated Guided vehicles) gradually become one of the key technologies of flexible production lines and modern storage systems, and because of their characteristics of high automation degree, safety, flexibility, etc., AGVs are widely applied in automated production processes such as intelligent manufacturing, etc., and in logistics fields.
Through research, the manufacturing industry has a strict requirement on the AGVs, the AGVs are required to be accurately butted with the machine table in the production process, and most of the AGVs in the current market cannot meet the requirement. Therefore, the method for improving the positioning accuracy of the AGV has great application value in the production line.
Disclosure of Invention
Embodiments of the present invention provide a data processing method, apparatus, device, and storage medium, which can improve positioning accuracy of an autonomous mobile device.
In a first aspect, an embodiment of the present invention provides a data processing method, including:
respectively acquiring first data information of a first plane area acquired by a first laser radar and second data information of a second plane area acquired by a second laser radar, wherein the first laser radar and the second laser radar are respectively arranged on two opposite sides of the autonomous mobile equipment, and the total plane area of the first plane area and the second plane area at least covers the plane area where the autonomous mobile equipment is located;
according to the acquisition sequence of the second laser radar, matching the second data information with the first data information to obtain fusion data information which forms 360 degrees around the autonomous mobile equipment;
generating a planar map surrounding the autonomous mobile device according to the fused data information to determine current location information of the autonomous mobile device according to the planar map.
In a second aspect, an embodiment of the present invention further provides a data processing apparatus, including:
the data information acquisition module is used for respectively acquiring first data information of a first plane area acquired by a first laser radar and second data information of a second plane area acquired by a second laser radar, the first laser radar and the second laser radar are respectively arranged on two opposite sides of the autonomous mobile equipment, and the total plane area of the first plane area and the second plane area at least covers the plane area where the autonomous mobile equipment is located;
the matching module is used for matching the second data information with the first data information according to the acquisition sequence of the second laser radar to obtain fusion data information which forms 360 degrees around the autonomous mobile equipment;
and the map generation module is used for generating a plane map surrounding the autonomous mobile equipment according to the fusion data information so as to determine the current position information of the autonomous mobile equipment according to the plane map.
In a third aspect, an embodiment of the present invention further provides an autonomous mobile device, including:
one or more processors;
a memory for storing one or more programs;
the first laser radar is used for acquiring first data information of the first plane area;
the second laser radar is used for acquiring second data information of a second plane area, the first laser radar and the second laser radar are respectively arranged on two opposite sides of the autonomous mobile equipment, and the total plane area of the first plane area and the second plane area at least covers the plane area where the autonomous mobile equipment is located;
the one or more programs, when executed by the one or more processors, implement the data processing method as described in the first aspect.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the data processing method according to the first aspect.
The embodiment of the invention provides a data processing method, a data processing device and a storage medium, wherein first data information of a first plane area acquired by a first laser radar and second data information of a second plane area acquired by a second laser radar are acquired respectively, the first laser radar and the second laser radar are arranged on two opposite sides of an autonomous mobile device respectively, and the total plane area of the first plane area and the second plane area at least covers the plane area where the autonomous mobile device is located; according to the acquisition sequence of the second laser radar, matching the second data information with the first data information to obtain fusion data information which forms 360 degrees around the autonomous mobile equipment; generating a planar map surrounding the autonomous mobile device according to the fused data information to determine current location information of the autonomous mobile device according to the planar map. According to the scheme, the second data information and the first data information are matched according to the acquisition sequence of the second laser radar, fusion data information which is 360 degrees around the autonomous mobile equipment is obtained, and then a plane map around the autonomous mobile equipment is generated based on the fusion data information, so that the accuracy of the plane map is improved, and when the plane map is used for positioning, the positioning accuracy is improved.
Drawings
Fig. 1 is a flowchart of a data processing method according to an embodiment of the present invention;
fig. 2 is a schematic top view of a body of an automated guided vehicle according to an embodiment of the present invention;
fig. 3 is a flowchart of a data processing method according to a second embodiment of the present invention;
fig. 4 is a structural diagram of a data processing apparatus according to a third embodiment of the present invention;
fig. 5 is a block diagram of an autonomous mobile device according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
Example one
Fig. 1 is a flowchart of a data processing method according to an embodiment of the present invention, where the embodiment is applicable to a case where an autonomous mobile device performs autonomous navigation or autonomously positions itself, and the autonomous mobile device may be an unmanned mobile device capable of automatic positioning and navigation, such as an automated guided vehicle AGV. The method may be performed by data processing means, which may be implemented by means of software and/or hardware, and may be integrated in an autonomous mobile device. Referring to fig. 1, the method may include the steps of:
s110, respectively acquiring first data information of a first plane area acquired by a first laser radar and second data information of a second plane area acquired by a second laser radar.
The first laser radar and the second laser radar are respectively arranged on two opposite sides of the autonomous mobile equipment, and the total plane area of the first plane area and the second plane area at least covers the plane area where the autonomous mobile equipment is located. The autonomous moving apparatus of this embodiment is exemplified by an AGV, but may be other movable apparatuses having automatic positioning and navigation functions. First laser radar and second laser radar are used for scanning the surrounding environment, and optionally, first laser radar and second laser radar are two-dimensional laser radar, and first laser radar and second laser radar's specific mounted position can set for according to actual need, and this embodiment uses first laser radar and second laser radar to set up in the relative both sides of AGV as an example, and for example first laser radar and second laser radar can set up in the relative both sides of locomotive and rear of a vehicle.
Optionally, first laser radar can install the position that is certain angle in the locomotive upper right corner, and second laser radar can install the position that is certain angle in the rear of a vehicle lower left corner, certainly also can be first laser radar installs the position that is certain angle in the rear of a vehicle lower left corner, and second laser radar installs the position that is certain angle in the locomotive upper right corner. In order to improve the accuracy of follow-up location, can adopt the first laser radar and the second laser radar of the same specification, and the angle that the mounted position of first laser radar corresponds and the angle that the mounted position of second laser radar corresponds can be the same, and the embodiment does not prescribe a limit to specific angle value, for example can set up to 45, for example first laser radar can install and be 45 positions in the locomotive upper right corner, and second laser radar can install and be 45 positions in the rear of a vehicle lower left corner.
The first plane area is a plane working area of the first laser radar, the second plane area is a plane working area of the second laser radar, the ranges of the first plane area and the second plane area are respectively related to the first laser radar and the second laser radar, and when the specifications of the first laser radar and the second laser radar are the same, the ranges of the first plane area and the second plane area are the same, for example, the ranges are 270 degrees. Exemplarily, referring to fig. 2, fig. 2 is a schematic top view of a body of an automated guided vehicle according to an embodiment of the present invention. The first laser radar 11 and the second laser radar 12 are located at the same height, wherein the first laser radar 11 is installed at the position of 45 degrees at the upper right corner of the vehicle head, the second laser radar 12 is installed at the position of 45 degrees at the lower left corner of the vehicle tail, and both the first plane area 110 and the second plane area 120 are in the range of 270 degrees. The total planar area of the first planar area 110 and the second planar area 120 covers the planar area where the automated guided vehicle is located.
The first data information is data information corresponding to environment information of a first plane area acquired by the first laser radar, and includes distance information of an obstacle and angle information corresponding to the distance information, the first laser radar in this embodiment may emit a laser beam at a certain interval to detect surrounding environment information, and the size of the interval angle may be set according to actual needs, for example, may be set to 0.5 °, that is, the first laser radar may emit a laser beam at an interval of 0.5 ° to detect the first plane area to obtain corresponding distance information and angle information. Assuming that the first planar area ranges from 0 deg. -270 deg. and the separation angle is 0.5 deg., the first data information may contain distance information and angle information corresponding to 541 data points. The second data information is similar.
And S120, matching the second data information with the first data information according to the acquisition sequence of the second laser radar to obtain fusion data information which forms 360 degrees around the autonomous mobile equipment.
As shown in fig. 2, the first laser radar and the second laser radar are respectively located at two opposite sides of the automated guided vehicle, the located coordinate systems are different, and the first data information or the second data information is only partial data information of a plane area where the automated guided vehicle is located.
In one example, the second data information and the first data information may be matched according to the acquisition order of the second laser radar based on the first data information to obtain the fused data information. In an example, the second data information may also be used as a reference, and the first data information and the second data information are matched according to the acquisition sequence of the first laser radar to obtain the fused data information. The former is taken as an example. Specifically, the second data information may be converted into a coordinate system where the first data information is located, and the second data information and the first data information are matched in the same coordinate system according to the acquisition sequence of the second laser radar, so as to obtain the fused data information. The second data information and the first data information are matched to acquire data information of a plane area where the automatic guided vehicle is not covered in the second data information.
And S130, generating a plane map surrounding the autonomous mobile equipment according to the fusion data information, and determining the current position information of the autonomous mobile equipment according to the plane map.
The embodiment does not limit the generation process of the plane map, and for example, a SLAM (Simultaneous Localization and Mapping, instant positioning and Mapping) algorithm may be adopted, and the plane map is generated by combining the determined fusion data information, so as to perform autonomous navigation and positioning according to the plane map.
The first embodiment of the invention provides a data processing method, which comprises the steps of respectively acquiring first data information of a first plane area acquired by a first laser radar and second data information of a second plane area acquired by a second laser radar, wherein the first laser radar and the second laser radar are respectively arranged on two opposite sides of an autonomous mobile device, and the total plane area of the first plane area and the second plane area at least covers the plane area where the autonomous mobile device is located; according to the acquisition sequence of the second laser radar, matching the second data information with the first data information to obtain fusion data information which forms 360 degrees around the autonomous mobile equipment; generating a planar map surrounding the autonomous mobile device according to the fused data information to determine current location information of the autonomous mobile device according to the planar map. According to the scheme, the second data information and the first data information are matched according to the acquisition sequence of the second laser radar, fusion data information which is 360 degrees around the autonomous mobile equipment is obtained, and then a plane map around the autonomous mobile equipment is generated based on the fusion data information, so that the accuracy of the plane map is improved, and when the plane map is used for positioning, the positioning accuracy is improved.
Example two
Fig. 3 is a flowchart of a data processing method according to a second embodiment of the present invention, where the present embodiment is optimized based on the foregoing embodiment, and referring to fig. 3, the method may include the following steps:
s210, first data information of a first plane area acquired by a first laser radar and second data information of a second plane area acquired by a second laser radar are acquired respectively.
S220, converting the second data information into a first polar coordinate system where the first laser radar is located according to a predetermined data conversion matrix to obtain conversion information of a second data point corresponding to the second data information in the first polar coordinate system.
Wherein the conversion information includes angle information and distance information. The data conversion matrix is used for converting the second data information to the coordinate system corresponding to the first data information, optionally, before the second data information and the first data information are matched, the data information acquired by the second laser radar may be calibrated by using the data information acquired by the first laser radar with the installation position of the first laser radar as a reference, so as to obtain the data conversion matrix, and a specific calibration process is not specifically required in this embodiment. First laser radar and second laser radar go on under respective polar coordinate system when gathering the data message that corresponds the planar region, and this embodiment will be called first polar coordinate system with the polar coordinate system that first laser radar belongs to, and the polar coordinate system that second laser radar belongs to is called second polar coordinate system. And converting the second data information in the second polar coordinate system into the first polar coordinate system through the data conversion matrix to obtain data information corresponding to the second data point in the first polar coordinate system, wherein the second data point is a data point collected by the second laser radar, namely a data point corresponding to the second data information. Correspondingly, the data point corresponding to the first data information may be referred to as a first data point.
Specifically, the second data information may be converted into a local cartesian coordinate system of the second laser radar to obtain first point cloud data C2, then the first point cloud data C2 is converted into the local cartesian coordinate system of the first laser radar according to a predetermined data conversion matrix to obtain second point cloud data C2 ', and then the second point cloud data C2' is converted into the first polar coordinate system to obtain distance information and angle information of the second data point in the first polar coordinate system.
And S230, acquiring angle information and distance information of the second data point in the first polar coordinate system according to the acquisition sequence of the second laser radar.
It can be understood that the angle information in the second data information is arranged in the first polar coordinate system according to the collection order of the corresponding data points, and the order may be disordered when the second data information is converted into the second polar coordinate system, that is, the angle information of the data point collected first may be greater than the angle information of the data point collected later, and in order to improve the accuracy of the fused data information, the angle information and the corresponding distance information in the first polar coordinate system may be sequentially obtained according to the collection order of the second data point after the second data information is converted into the first polar coordinate system.
S240, determining fusion data information which surrounds the autonomous mobile equipment to form 360 degrees according to the angle information and the distance information of the second data point in the first polar coordinate system and the angle information and the distance information of the first data information in the first polar coordinate system.
Assuming that the first data information corresponds to N1 data points, that is, the data length of the first data information is N1, the size of N1 may be determined according to the range and the interval angle of the first plane area, for example, the range of the first plane area is 0 ° to 270 °, the interval angle is 0.5 °, the size of N1 is 541, and when the scan angle of the first laser radar is 270 °, the corresponding data point is 541. Specifically, the first data information may be directly used as the first N1 data information of the fused data information, the maximum angle information in the first data information is the current maximum angle information of the fused data information, and let a be Ang _ max, where a is the current maximum angle information and Ang _ max is the maximum scanning angle of the first laser radar, and this embodiment is 270 °.
Then, according to the collecting sequence of the second data points, angle information of the current data point and angle information of the next data point are obtained, the current data point and the next data point are two adjacent data points in the second data points, and the adjacent data points are adjacent to each other, the difference value between the angle information corresponding to the current data point and the angle information corresponding to the next data point isAlternatively, the current data point may be denoted as an nth data point, the next data point may be denoted as an N +1 th data point, where N is 1,2,., N2, in this embodiment, N1 is N2, and the angle information corresponding to the nth data point in the first polar coordinate system is anDistance information of rnThe angle information corresponding to the (n + 1) th data point in the first polar coordinate system is an+1Distance information of rn+1。
Specifically, if an>an+1Is represented by anInvalid, and let n be n +1, continue to obtain the next data point, and compare the angle information of the second data point and the third data point, and so on, if anAnd an+1Satisfies a first predetermined condition, i.e. an<an+1Continue to compare anThe relationship with A. Specifically, if anAnd A satisfies a second predetermined condition, i.e. A<anIf the data point corresponding to a is considered as an invalid data point, the fused data information of the data point may be set to 0, and a is updated, where a is a + inc, inc is an interval angle, which is also referred to as an angle increment, until a is reachednAnd A satisfies a third predetermined condition, i.e. A>an. Then compare an+1Relation to A, in particular if an+1<And A, making n equal to n +1, continuously acquiring the next data point, and repeating the process until an+1And A satisfies a fourth preset condition, i.e. an+1>A, finally an、an+1And A satisfies the following relationship: a isn<A<an+1In the whole process anA and an+1And continuously updating.
According to an、rn、A、an+1And rn+1The fused data information may be determined. Specifically, a can be determinedn+1And anIs a first absolute value of the difference, i.e. an+1And anAbsolute value of difference, rn+1And rnIs the second absolute value of the difference, i.e. rn+1And rnThe absolute value of the difference, if it isThe distance information r [ A ] of the data point corresponding to the current A can be determined in a linear difference mode when the absolute value of the difference is smaller than the first threshold and the absolute value of the second difference is smaller than the second threshold]＝(an+1-A)/(an+1-an)×r0+(A-an)/(an+1-an) X r1, wherein r [ A ]]And distance information representing the data point corresponding to the current A. The linear interpolation is an interpolation mode that an interpolation function is a first-order polynomial, the interpolation error of the interpolation function on an interpolation node is zero, the linear interpolation can be used for approximating and replacing an original function, and the linear interpolation can also be used for calculating values which are not in a table look-up process. The magnitude of the first threshold is numerically the same as the separation angle, and when the separation angle is 0.5 °, the magnitude of the first threshold may be 0.5. The size of the second threshold value can be set according to actual conditions.
And circularly executing the process until the next data point is the last data point in the second data points or the updated A reaches the maximum angle information required for forming 360 degrees around the automatic guided vehicle, namely the data length of the currently obtained data information is the target data length required for covering the plane area where the automatic guided vehicle is located. It should be noted that, if the data length of the currently obtained data information is smaller than the target data length when the next data point is the last data point in the second data points, the remaining data points are marked as invalid data points, and the value of the data point is marked as 0.
And S250, generating a plane map surrounding the autonomous mobile equipment according to the fusion data information, and determining the current position information of the autonomous mobile equipment according to the plane map.
In the second embodiment of the present invention, on the basis of the above embodiment, the second data information acquired by the second lidar is converted into the coordinate system corresponding to the first data information, and then the angle information a of the nth data point and the (n + 1) th data point in the first coordinate system is acquired according to the acquisition order of the second data pointnAnd an+1At anAnd an+1On the basis of meeting the first preset condition, further determining anAnd an+1With ARelation, and finally obtain an、an+1And A satisfies the following correspondence: a isn<A<an+1On the basis of the corresponding relationship, if an+1And anSatisfies a first threshold, rn+1And rnWhen the absolute value of the second difference value meets the second threshold, the distance information of the corresponding data point is determined by using a linear interpolation mode, and the fused data information of the data point is obtained by combining the angle information of the data point, so that the accuracy of the fused data information is improved, and the accuracy of the plane map can also be improved when the plane map is generated based on the fused data information.
EXAMPLE III
Fig. 4 is a structural diagram of a data processing apparatus according to a third embodiment of the present invention, where the apparatus may execute the data processing method according to the foregoing embodiment, and referring to fig. 4, the apparatus may include:
the data information acquiring module 31 is configured to acquire first data information of a first plane area acquired by a first laser radar and second data information of a second plane area acquired by a second laser radar, where the first laser radar and the second laser radar are respectively disposed on two opposite sides of the autonomous mobile device, and a total plane area of the first plane area and the second plane area at least covers a plane area where the autonomous mobile device is located;
a matching module 32, configured to match the second data information with the first data information according to a collection sequence of the second laser radar, so as to obtain fusion data information that forms 360 degrees around the autonomous mobile device;
a map generating module 33, configured to generate a planar map around the autonomous mobile device according to the fused data information, so as to determine current location information of the autonomous mobile device according to the planar map.
The third embodiment of the present invention provides a data processing apparatus, wherein a first data information of a first plane area acquired by a first laser radar and a second data information of a second plane area acquired by a second laser radar are acquired respectively, the first laser radar and the second laser radar are respectively disposed on two opposite sides of an autonomous mobile device, and a total plane area of the first plane area and the second plane area at least covers a plane area where the autonomous mobile device is located; according to the acquisition sequence of the second laser radar, matching the second data information with the first data information to obtain fusion data information which forms 360 degrees around the autonomous mobile equipment; generating a planar map surrounding the autonomous mobile device according to the fused data information to determine current location information of the autonomous mobile device according to the planar map. According to the scheme, the second data information and the first data information are matched according to the acquisition sequence of the second laser radar, fusion data information which is 360 degrees around the autonomous mobile equipment is obtained, and then a plane map around the autonomous mobile equipment is generated based on the fusion data information, so that the accuracy of the plane map is improved, and when the plane map is used for positioning, the positioning accuracy is improved.
On the basis of the above embodiment, the matching module 32 includes:
the conversion unit is used for converting the second data information into a first polar coordinate system in which the first laser radar is located according to a predetermined data conversion matrix to obtain conversion information of a second data point corresponding to the second data information in the first polar coordinate system, wherein the conversion information comprises angle information and distance information;
the information acquisition unit is used for acquiring angle information and distance information of the second data point in the first polar coordinate system according to the acquisition sequence of the second laser radar;
and the fused data information determining unit is used for determining fused data information which surrounds the autonomous mobile equipment to form 360 degrees according to the angle information and the distance information of the second data point in the first polar coordinate system and the angle information and the distance information of the first data information in the first polar coordinate system.
On the basis of the foregoing embodiment, the conversion unit is specifically configured to:
determining coordinate values of the second data information in a local Cartesian coordinate system of the second laser radar to obtain first point cloud data;
converting the first point cloud data into a local Cartesian coordinate system of the first laser radar according to a predetermined data conversion matrix to obtain second point cloud data;
and converting the second point cloud data into a first polar coordinate system in which the first laser radar is located to obtain conversion information of the second data point in the first polar coordinate system.
On the basis of the foregoing embodiment, the fused data information determining unit is specifically configured to:
taking the maximum angle information in the first data information as the current maximum angle information of the fused data information, and acquiring the angle information of the current data point and the next data point in the second data point;
if the angle information of the current data point and the angle information of the next data point meet a first preset condition, and the angle information of the current data point and the current maximum angle information meet a second preset condition, updating the current maximum angle information until the angle information of the current data point and the updated current maximum angle information meet a third preset condition, wherein the current data point is adjacent to the next data point;
if the angle information of the next data point and the updated current maximum angle information meet a fourth preset condition, determining fused data information which forms 360 degrees around the autonomous mobile device according to the angle information and the distance information of the current data point, the angle information and the distance information of the next data point and the updated current maximum angle information;
circularly executing the operation until the updated current maximum angle information reaches the maximum angle information which is required to form 360 degrees around the autonomous mobile equipment; alternatively, the next data point is the last data point in the second data points.
On the basis of the above embodiment, the determining fused data information that is 360 ° around the autonomous mobile device according to the angle information and the distance information of the current data point, the angle information and the distance information of the next data point, and the updated current maximum angle information includes:
determining a first difference absolute value of the angle information of the current data point and the angle information of the next data point and a second difference absolute value of the distance information of the current data point and the distance information of the next data point;
and if the first difference absolute value is smaller than a first threshold value and the second difference absolute value is smaller than a second threshold value, determining distance information corresponding to the updated current maximum angle information by adopting a linear interpolation mode and combining the angle information and the distance information of the current data point, the angle information and the distance information of the next data point and the updated current maximum angle information, wherein the distance information is used as fusion data information which forms 360 degrees around the autonomous mobile equipment.
On the basis of the above embodiment, the first laser radar and the second laser radar are both two-dimensional laser radars.
The data processing apparatus according to the embodiment of the present invention and the data processing method according to the above embodiment belong to the same inventive concept, and technical details that are not described in detail in the present embodiment can be referred to in the above embodiment, and the present embodiment has the same advantageous effects as the data processing method.
Example four
Fig. 5 is a block diagram of an autonomous mobile apparatus according to a fourth embodiment of the present invention, and referring to fig. 5, the autonomous mobile apparatus includes a first lidar 41, a second lidar 42, a processor 43, a memory 44, an input device 45, and an output device 46. The number of processors 43 in the autonomous mobile device may be one or more, fig. 5 illustrates one processor 43, the first lidar 41, the second lidar 42, the processor 43, the memory 44, the input device 45, and the output device 46 in the autonomous mobile device may be connected by a bus or other means, and fig. 5 illustrates the connection by a bus.
The first laser radar 41 is used for collecting first data information of a first plane area, the second laser radar 42 is used for collecting second data information of a second plane area, the first laser radar 41 and the second laser radar 42 are respectively arranged on two opposite sides of the autonomous mobile device, and the total plane area of the first plane area and the second plane area at least covers the plane area where the autonomous mobile device is located. Taking the autonomous mobile device as an automated guided vehicle as an example, optionally, the first laser radar 41 may be disposed at a position at 45 ° on the upper right corner of the head of the automated guided vehicle, and the second laser radar 42 may be disposed at a position at 45 ° on the lower left corner of the tail of the automated guided vehicle. The first lidar 41 and the second lidar 42 are located at the same height.
The memory 44 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the data processing method in the embodiment of the present invention. The processor 43 executes various functional applications of the autonomous mobile device and data processing, i.e., implements the data processing method of the above-described embodiment, by executing software programs, instructions, and modules stored in the memory 44.
The memory 44 mainly includes a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 44 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 44 may further include memory located remotely from processor 43, which may be connected to the autonomous mobile device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 45 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the autonomous mobile apparatus. The output device 46 may include a display device such as a display screen, and an audio device such as a speaker and a buzzer.
The autonomous mobile device provided by the embodiment of the present invention is the same as the data processing method provided by the above embodiment, and the technical details that are not described in detail in the embodiment can be referred to the above embodiment.
EXAMPLE five
An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is used, when executed by a processor, to execute a data processing method, where the method includes:
respectively acquiring first data information of a first plane area acquired by a first laser radar and second data information of a second plane area acquired by a second laser radar, wherein the first laser radar and the second laser radar are respectively arranged on two opposite sides of the autonomous mobile equipment, and the total plane area of the first plane area and the second plane area at least covers the plane area where the autonomous mobile equipment is located;
according to the acquisition sequence of the second laser radar, matching the second data information with the first data information to obtain fusion data information which forms 360 degrees around the autonomous mobile equipment;
generating a planar map surrounding the autonomous mobile device according to the fused data information to determine current location information of the autonomous mobile device according to the planar map.
Storage media for embodiments of the present invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a flash Memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. A computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take a variety of forms, including, but not limited to: an electromagnetic signal, an optical signal, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, Radio Frequency (RF), etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A data processing method, comprising:
respectively acquiring first data information of a first plane area acquired by a first laser radar and second data information of a second plane area acquired by a second laser radar, wherein the first laser radar and the second laser radar are respectively arranged on two opposite sides of the autonomous mobile equipment, and the total plane area of the first plane area and the second plane area at least covers the plane area where the autonomous mobile equipment is located;
according to the acquisition sequence of the second laser radar, matching the second data information with the first data information to obtain fusion data information which forms 360 degrees around the autonomous mobile equipment;
generating a planar map surrounding the autonomous mobile device according to the fused data information to determine current location information of the autonomous mobile device according to the planar map.
2. The method of claim 1, wherein said matching the second data information and the first data information in the acquisition order of the second lidar to obtain fused data information at 360 ° around the autonomous mobile device comprises:
converting the second data information into a first polar coordinate system in which the first laser radar is located according to a predetermined data conversion matrix to obtain conversion information of a second data point corresponding to the second data information in the first polar coordinate system, wherein the conversion information comprises angle information and distance information;
acquiring angle information and distance information of the second data point in the first polar coordinate system according to the acquisition sequence of the second laser radar;
and determining fusion data information which surrounds the autonomous mobile equipment to form 360 degrees according to the angle information and the distance information of the second data point in the first polar coordinate system and the angle information and the distance information of the first data information in the first polar coordinate system.
3. The method according to claim 2, wherein the converting the second data information into a first polar coordinate system in which the first lidar is located according to a predetermined data conversion matrix to obtain conversion information of a second data point corresponding to the second data information in the first polar coordinate system includes:
determining coordinate values of the second data information in a local Cartesian coordinate system of the second laser radar to obtain first point cloud data;
converting the first point cloud data into a local Cartesian coordinate system of the first laser radar according to a predetermined data conversion matrix to obtain second point cloud data;
and converting the second point cloud data into a first polar coordinate system in which the first laser radar is located to obtain conversion information of the second data point in the first polar coordinate system.
4. The method of claim 2, wherein determining fused data information at 360 ° around the autonomous mobile device from the angle information and the distance information of the second data point in the first polar coordinate system and the angle information and the distance information of the first data information in the first polar coordinate system comprises:
taking the maximum angle information in the first data information as the current maximum angle information of the fused data information, and acquiring the angle information of the current data point and the next data point in the second data point;
if the angle information of the current data point and the angle information of the next data point meet a first preset condition, and the angle information of the current data point and the current maximum angle information meet a second preset condition, updating the current maximum angle information until the angle information of the current data point and the updated current maximum angle information meet a third preset condition, wherein the current data point is adjacent to the next data point;
if the angle information of the next data point and the updated current maximum angle information meet a fourth preset condition, determining fused data information which forms 360 degrees around the autonomous mobile device according to the angle information and the distance information of the current data point, the angle information and the distance information of the next data point and the updated current maximum angle information;
circularly executing the operation until the updated current maximum angle information reaches the maximum angle information which is required to form 360 degrees around the autonomous mobile equipment; alternatively, the next data point is the last data point in the second data points.
5. The method of claim 4, wherein determining fused data information at 360 ° around the autonomous mobile device from the angle information and the distance information for the current data point, the angle information and the distance information for the next data point, and the updated current maximum angle information comprises:
determining a first difference absolute value of the angle information of the current data point and the angle information of the next data point and a second difference absolute value of the distance information of the current data point and the distance information of the next data point;
and if the first difference absolute value is smaller than a first threshold value and the second difference absolute value is smaller than a second threshold value, determining distance information corresponding to the updated current maximum angle information by adopting a linear interpolation mode and combining the angle information and the distance information of the current data point, the angle information and the distance information of the next data point and the updated current maximum angle information, wherein the distance information is used as fusion data information which forms 360 degrees around the autonomous mobile equipment.
6. The method of any one of claims 1-5, wherein the first lidar and the second lidar are both two-dimensional lidar.
7. A data processing apparatus, comprising:
the data information acquisition module is used for respectively acquiring first data information of a first plane area acquired by a first laser radar and second data information of a second plane area acquired by a second laser radar, the first laser radar and the second laser radar are respectively arranged on two opposite sides of the autonomous mobile equipment, and the total plane area of the first plane area and the second plane area at least covers the plane area where the autonomous mobile equipment is located;
the matching module is used for matching the second data information with the first data information according to the acquisition sequence of the second laser radar to obtain fusion data information which forms 360 degrees around the autonomous mobile equipment;
and the map generation module is used for generating a plane map surrounding the autonomous mobile equipment according to the fusion data information so as to determine the current position information of the autonomous mobile equipment according to the plane map.
8. The apparatus of claim 7, wherein the matching module comprises:
the conversion unit is used for converting the second data information into a first polar coordinate system in which the first laser radar is located according to a predetermined data conversion matrix to obtain conversion information of a second data point corresponding to the second data information in the first polar coordinate system, wherein the conversion information comprises angle information and distance information;
the information acquisition unit is used for acquiring angle information and distance information of the second data point in the first polar coordinate system according to the acquisition sequence of the second laser radar;
and the fused data information determining unit is used for determining fused data information which surrounds the autonomous mobile equipment to form 360 degrees according to the angle information and the distance information of the second data point in the first polar coordinate system and the angle information and the distance information of the first data information in the first polar coordinate system.
9. An autonomous mobile device, comprising:
one or more processors;
a memory for storing one or more programs;
the first laser radar is used for acquiring first data information of the first plane area;
the second laser radar is used for acquiring second data information of a second plane area, the first laser radar and the second laser radar are respectively arranged on two opposite sides of the autonomous mobile equipment, and the total plane area of the first plane area and the second plane area at least covers the plane area where the autonomous mobile equipment is located;
the one or more programs when executed by the one or more processors implement the data processing method of any of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the data processing method of any one of claims 1 to 6.
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