To provide a positioning method and device for movable equipment, and the movable equipment for a technical field of automatic driving.SOLUTION: A method includes: acquiring laser dot group data within a predetermined region above movable equipment; extracting, according to a predetermined rule, laser dot group data as a dot group of a first type and a dot group of a second type positioned on both right and left sides of the movable equipment respectively; and collating the dot group of the first type with the dot group of the second type to acquire a conversion matrix, and determining attitude information on the movable equipment based upon the conversion matrix. The processing can solve the problem that when forward laser dot group data cannot be accurately acquired as a GNSS signal of related arts is influenced, the movable equipment cannot be accurately positioned. At the same time, the dot group data above the movable equipment is gathered, so there is no influence of a temporary obstacle during the use.SELECTED DRAWING: Figure 4

    【課題】自動運転の技術分野において、可移動機器の測位方法、装置及び可移動機器を提供する。【解決手段】方法は、可移動機器の上方の所定領域内のレーザ点群データを取得することと、所定ルールに従って、レーザ点群データを可移動機器の左右両側にそれぞれ位置する第1のタイプの点群と第2のタイプの点群として抽出することと、第1のタイプの点群と第2のタイプの点群を照合して変換行列を取得し、変換行列に基づいて可移動機器の姿勢情報を決定することとを含む。上記の処理により、関連技術におけるGNSS信号が影響を受け、且つ前方のレーザ点群データを精確に取得できない場合に可移動機器を精確に測位できないという問題を解決することができ、同時に、可移動機器の上方の点群データを収集するため、使用時に一時的な障害物の影響を受けない。【選択図】図4


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    Title :

    POSITIONING METHOD AND DEVICE FOR MOVABLE EQUIPMENT, AND MOVABLE EQUIPMENT


    Additional title:

    可移動機器の測位方法、装置及び可移動機器


    Contributors:
    JO ISAMU (author) / WU NAN (author)

    Publication date :

    2022-02-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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