Motion track determination method, operation equipment, device and storage medium

Abstract

The embodiment of the invention discloses a motion trail determination method, operation equipment, a device and a storage medium, and the method comprises the steps: obtaining the point cloud data of a current frame of a to-be-operated area and the global map of the current frame, the point cloud data of the current frame being the point cloud data collected by the operation equipment in the operation area, and the global map of the current frame being the point cloud data of the current frame being the point cloud data collected by the operation equipment in the operation area; the global map of the current frame is determined based on point cloud data of a previous frame of the current frame; determining first pose change information of the operation equipment based on the point cloud data of the current frame; determining second pose change information of the operation equipment based on the point cloud data of the current frame and a global map of the current frame; and based on a preset data fusion algorithm, performing data fusion on the first pose change information and the second pose change information to obtain pose information of the current frame of the operation equipment.

Description

technical field [0001] The embodiments of the present application relate to the technical field of operating equipment, and relate to, but are not limited to, a method for determining a motion trajectory, operating equipment, a device, and a storage medium. Background technique [0002] With the development of science and technology, the demand for automated operations in various industries continues to grow. When operating equipment such as unmanned ships or outdoor cleaning robots are operating in the operating area, accurate positioning is crucial to the safe driving and task execution of the operating equipment, and accurate positioning is inseparable from the operator's accurate judgment of the movement trajectory of the operating equipment . [0003] In real life, operating environment conditions such as bad weather, strong light, and nighttime will affect the operator's accurate judgment of the movement trajectory of the operating equipment, which in turn will affect...

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Problems solved by technology

[0003] In real life, operating environment conditions such as bad weather, strong light, and nighttime will affect the operator's accurate judgment of the movement trajectory of the operating equipment, which in turn will affect the accurate positioning of the operating equipment, resulting in the failure of the operating equipment to perform normal operations, and even failure. Phenomenon of damage to operating equipment

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