TWI768724B - Method for positioning in a three-dimensional space and positioning system - Google Patents

Abstract

A method for positioning in a three-dimensional space and a positioning system are provided. The method is operated in a serving system that includes a database in which data of a plurality of positioning points associated to multiple three-dimensional spaces are recorded. The data of the plurality of positioning points are created based on the sensing data generated by one or more electronic devices in the three-dimensional spaces. The positioning points used to depict the three-dimensional spaces are created according to three-dimensional information extracted from the data. In the method, the serving system receives sensing data transmitted from an electronic device, and acquires position information by analyzing the sensing data. After querying the database, one or more positioning points corresponding to the three-dimensional space matched with the position information are obtained. The one or more positioning points can map position of the electronic device. A positioning data is generated.

Description

Positioning method and positioning system in three-dimensional space

The specification proposes a technology for positioning in a three-dimensional space, especially a positioning method and system for positioning an electronic device entering the space by using positioning point data in the three-dimensional space.

In the prior art, in order to locate people or objects in an indoor space, it is necessary to use positioning points set at multiple fixed positions in the indoor space, such as setting a beacon, which is a wireless signal device. When the user enters the indoor space with the beacon with the mobile device, the receiver in the mobile device can respond to the beacon signal, and after receiving the location information of the beacon signal, it can determine the current position, correspondingly, In the beacon system, the position of the mobile device in the space can also be located according to the signal of the user's mobile device.

The specification discloses a positioning method and positioning system in a three-dimensional space. Different from the prior art, the positioning method in a three-dimensional space is based on one or more positioning points in a three-dimensional space, and the positioning method is based on a combination of environmental sparse point clouds ( sparse point cloud) features and the concept of visual inertial odometry (visual inertial odometry) stereo spatial positioning technology, which uses the sensing information in electronic devices, combined with images, to form positioning points describing the stereo space.

According to the embodiment of the positioning system in three-dimensional space, the system proposes a servo system in which a database is set for recording data of one or more positioning points in one or more three-dimensional spaces, and the servo system runs the positioning method in three-dimensional space.

In the method, the servo system receives sensing information transmitted by an electronic device, and analyzes the sensing information to obtain position information of the electronic device, wherein the position information is the spatial relationship of the electronic device in a three-dimensional space, such as the device and the surrounding environment After querying the database, one or more positioning point data in the three-dimensional space is matched, and the obtained one or more positioning point data is used to map the position information of the electronic device to generate a positioning information.

Preferably, the sensing information received by the servo system from the electronic device includes sensing information generated by one or more of an accelerometer, a gyroscope, a positioning circuit and a communication circuit in the electronic device.

Further, the sensing data also includes an image obtained by a photographing unit in the electronic device at a position in the three-dimensional space, and the image feature can be the basis for obtaining one or more positioning point data.

Further, the servo system uses the image features formed by the image generated by the electronic device to match one or more positioning point data in the three-dimensional space. According to an embodiment, the method includes receiving the image generated by the electronic device, and after image processing, it can be obtained. Image features are extracted and spatial features such as depth and objects are judged accordingly. Next, compare the data of one or more positioning points in the associated three-dimensional space of the database, calculate the similarity between the image feature and the spatial feature between each positioning point, and calculate the matching probability between the electronic device and each positioning point according to the similarity, so that the system can According to the matching probability, one or more positioning point data matching the three-dimensional space is obtained.

Further, in one embodiment, a software program is executed in the electronic device held by the user, wherein the scanning mode and the editing mode can be operated. In the scan mode, the sensing information provided to the servo system to perform positioning is generated by the sensing circuit in the electronic device, and used to match the list of anchor points to be found with the servo system, such as comparing the anchor ID of the anchor ID. list.

In the editing mode, the sensing information for establishing one or more positioning point data is generated by the sensing circuit in the electronic device, and the sensing information is stored in the metadata of the positioning point.

For a further understanding of the features and technical content of the present invention, please refer to the following detailed descriptions and drawings of the present invention. However, the drawings provided are only for reference and description, and are not intended to limit the present invention.

The following are specific embodiments to illustrate the embodiments of the present invention, and those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of the present invention. In addition, the drawings of the present invention are merely schematic illustrations, and are not drawn according to the actual size, and are stated in advance. The following embodiments will further describe the related technical contents of the present invention in detail, but the disclosed contents are not intended to limit the protection scope of the present invention.

It should be understood that although terms such as "first", "second" and "third" may be used herein to describe various elements or signals, these elements or signals should not be limited by these terms. These terms are primarily used to distinguish one element from another element, or a signal from another signal. In addition, the term "or", as used herein, should include any one or a combination of more of the associated listed items, as the case may be.

The publication proposes a positioning system in a three-dimensional space, and a servo system, which is provided with a database that records the positioning point data describing the three-dimensional space, and is used to run a positioning method in a three-dimensional space. The proposed positioning method is mainly based on the combination of environmental sparseness. Three-dimensional space positioning technology for sparse point cloud features and visual inertial odometry. The inertial odometer may be a dead distance calculation technology formed by combining an accelerometer (accelerometer) and a gyroscope (gyroscope) in an electronic device.

In addition to establishing one or more positioning points in the three-dimensional space with the electronic device, a servo system can also be proposed, in which cloud computing technology can be used to process the information transmitted by each terminal electronic device, so as to realize the description of a three-dimensional space with one or more positioning points The space method enables the method to achieve the purpose of positioning in a three-dimensional space, such as indoor positioning, and the related system can refer to the schematic diagram of the system architecture embodiment shown in FIG. 1 .

The system proposes a servo system 100, which can connect electronic devices 121, 141 through the network 10, and can process information from different three-dimensional spaces (12, 14) at the same time. The server system 100 is provided with a database 101 for storing the sensing and environmental feature information generated by the electronic devices 121 and 141. These sensing and environmental feature information are processed to form information for describing a three-dimensional space, especially for describing a three-dimensional space data, such as the information of multiple anchor points in the stereo space (12, 14) at each end.

In this example, the information transmitted by the electronic devices ( 121 , 141 ) is calculated by the servo system 100 and various algorithms are run. The servo system 100 is provided with a three-dimensional space description unit 103, which can be realized by software means and processing circuits, and is based on the movement of the electronic device 121 located in the three-dimensional space one 12 in the three-dimensional space 12 and the sensing and environment generated at each position. The feature information is obtained, and the position information is obtained to form one or more positioning points in the three-dimensional space-12, so as to achieve the purpose of constructing a digital map for indoor and outdoor positioning. Similarly, the sensing information and the environmental feature information generated by the electronic device 141 in the three-dimensional space 14 are also received through the communication unit 107, and the three-dimensional space description unit 103 processes these information to form the information used to describe each three-dimensional space (12 , 14) multiple anchor points.

The servo system 100 is provided with a positioning calculation unit 105 , which can be implemented by software means and processing circuits. For example, after completing the establishment of the positioning point describing the three-dimensional space 12 , the relevant data is stored in the database 101 . Once another electronic device enters the three-dimensional space 12, the electronic device is connected to the servo system 100, and the sensing information and image information therein can be transmitted to the servo system 100, and the received information is calculated by the positioning calculation unit 105 in the servo system 100 , and compares the positioning point information of the three-dimensional space one 12 to locate the electronic device.

When the servo system 100 operates, the positioning method in the three-dimensional space is realized by establishing the positioning point, which is mainly based on the information obtained by the electronic device (121, 141) sensing the environment in the three-dimensional space (12, 14), and also includes the image of the three-dimensional space. Create anchor data describing the stereoscopic space. In the positioning method in the three-dimensional space, for example, the electronic devices (121, 141) move in the three-dimensional space (12, 14), and the servo system 100 generates multiple positions in the three-dimensional space through the sensing circuit in each electronic device. The sensing information is also used to capture images at various positions through the photographing unit in the electronic device. In addition to being used to establish positioning points, when used for positioning, the previously established positioning points can be matched, and the electronic device can be judged according to the matching positioning points. The position of (121, 141) in each three-dimensional space (12, 14), after completing the positioning, communicate with the electronic device (121, 141) through the communication unit 107, including transmitting the information of the completion of the positioning.

For related circuit elements of the electronic device involved in establishing the positioning point, reference may be made to the schematic diagram of the embodiment shown in FIG. 2 .

FIG. 2 shows the main circuit components of the electronic device 20. The electronic device 20 can be a mobile device held by a user, a head-mounted display (HMD), or smart glasses, etc. that can sense the environment when moving. Information electronic device.

The electronic device 20 is provided with a controller 201 for controlling the operation of each circuit element, and the controller 201 is electrically connected to each circuit element. For example, it may include various sensors, such as the first sensor 203 and the second sensor 205 as shown in the figure, such as an accelerometer, a gyroscope, etc., which can sense the movement of the electronic device 20 (such as changes in acceleration in all directions) and the attitude (e.g. orientation change, orientation change) sensing circuit.

The electronic device 20 may be provided with a positioning unit 207 , such as a receiver circuit of a global positioning system (GPS), which can obtain the position of the electronic device 20 through positioning, which is beneficial to describe the three-dimensional space and locate the electronic device 20 . The positioning unit 207 does not exclude circuitry that can perform positioning or assist positioning based on wireless signals (eg WiFi™, Bluetooth™ signals, beacons).

The electronic device 20 is provided with a photographing unit 209. The photographing unit 209 is used for photographing the image of the position of the electronic device 20. However, the photographing unit 209 should have a photographing angle limitation according to the design. Image from a spatial angle. The information generated by the sensing circuit of the electronic device 20 becomes the information used by the system to describe the three-dimensional space and positioning.

The electronic device 20 is provided with a communication unit 211 , so that the electronic device 20 can connect to the servo system 22 through a network for transmitting sensing data and images, and the positioning point of the three-dimensional space where the electronic device 20 is located is formed by the computing power of the servo system 22 , and can therefore provide location services.

According to the example shown in FIG. 3, a plurality of positioning points formed in a three-dimensional space 30 are displayed, such as a first positioning point T1 (coordinates: (x1, y1, z1)), a second positioning point T2 (coordinates: (x2) , y2, z2)) and the third anchor point T3 (coordinates: (x3, y3, z3)). The three positioning points ( T1 , T2 , T3 ) may be positioning points formed by the movement of the electronic device in the three-dimensional space 30 .

For example, the user holds the electronic device, turns on the sensing circuit and the camera function, and starts from the first positioning point T1 (coordinates: (x1, y1, z1)), that is, the first positioning point T1 generates sensing information , and also use the camera to capture images that cover a spatial angle in one direction, which can be static or dynamic images. Then, it can be prompted by the software, or the user can decide to move to the second positioning point T2 (coordinates: (x2, y2, z2)). The electronic device may also continue to process the sensing information and images generated in real time during the moving process. Or send sensing information and images to the servo system. Similarly, it can continue to move to the third positioning point T3 (coordinates: (x3, y3, z3)), and continue to generate sensing information and images during the moving process. In this way, the spatial relationship between each position ( T1 , T2 , T3 ) and the three-dimensional space 30 can be obtained by means of software in the electronic device or on the servo system based on the sensing information and images of multiple positions. , the image features of the stereoscopic space can also be obtained from the image. The sensing information and the image are used to form multiple positioning points in the stereoscopic space, and the stereoscopic space can be described with multiple positioning points, or can be further constructed to describe A map of this solid space.

Further, according to an embodiment, the sensing information transmitted by the electronic device to the servo system may be the sensing information generated by one or more of the accelerometer, gyroscope, and positioning circuit in the electronic device, or the Information generated by communication circuits, such as circuits based on wireless communication protocols supported by electronic devices such as wireless network information (WiFi®) or Bluetooth® communication information (Bluetooth®), and can obtain signal strength information (RSSI) derived from beacons ), which can be used to assist in making the information of each positioning point include reference geographic information. Therefore, when performing positioning, it is not necessary to compare all the positioning points in this space at one time. It can effectively improve the efficiency and speed of positioning technology by measuring information (such as WiFi® signal) and only looking for nearby positioning points for comparison.

In another embodiment, the electronic device can activate the photographing function of the image in the three-dimensional space, the servo system can obtain the image obtained by the electronic device at each position as an image covering a spatial angle at each position facing an orientation, and the image is the electronic device. The image obtained by the camera's shooting direction and the field of view of the lens, the image information is also imported into the synchronous positioning and map construction algorithm, together with the above-mentioned information used to describe the posture of the electronic device, including the specific shooting direction and moving path, after eliminating unnecessary information After the information, the whole can form one or more anchor points that describe the three-dimensional space.

Further, the software in the servo system can process the acquired images to obtain the image features of each position, identify and classify the objects, and obtain the image features through the image processing technology, such as the image information (such as RGB) of each image and frame image. , Image features such as point, line, surface (to describe the ground and wall), color, material, shape, outline, and depth of the three-dimensional space. In step S713, various environmental objects in the three-dimensional space can be identified and classified through image recognition technology or imported artificial intelligence models. These new information can be used to update the original anchor point data, or form a new anchor point. Each anchor point is provided with an anchor ID, which can be used to describe a Part or all of the three-dimensional space.

Further, according to the technical embodiment of image recognition, it is possible to appropriately match the deep learning to determine the labels of walls, floors, and various objects, plus the environmental feature information and sensor information obtained at the same location, and more complete positioning point information can be established. Among them, the sensing information mainly includes information generated by various communication circuits. The environmental feature information can be the position and surrounding object images obtained by the electronic device. When the servo system wants to determine the location of the electronic device, it can be filtered by the environmental feature information. , so as to filter out the positioning points that can effectively locate the electronic device.

For example, reference may be made to the flowchart of the embodiment shown in FIG. 4 in which information sensed by different electronic devices at different times and at different times can be used to establish one or more positioning points in a three-dimensional space.

Electronic devices in different three-dimensional spaces are connected to the servo system through specific software programs and communication methods. After executing the software programs, various obtained three-dimensional space information can be transmitted to the servo system. In the servo system, in step S401, the stereoscopic space information transmitted by the first electronic device in a certain stereoscopic space is obtained, including various environmental sensing information and images described in the above embodiments. In the servo system, in step S403, that is, One or more positioning points are established according to the calculation of the information transmitted by the first electronic device, each positioning point is provided with a positioning point identification code, and the relevant positioning point information will be stored in the database of the servo system.

In step S405, the servo system also obtains the three-dimensional space information transmitted by the second electronic device at another time. At this time, the second electronic device can be located according to the three-dimensional space information. In step S407, according to the data in the database, it is identified that this is related to the The positioning points established by the information transmitted by the first electronic device at a certain time are the same three-dimensional space. After comparison, unnecessary or repeated information can be filtered first, as in step S409, to obtain one or more new positioning points , and establish a new positioning point identification code, so that the three-dimensional space and position to which each positioning point belongs can be identified in the database. In an embodiment, the above process can be repeated, and finally, the servo system can form positioning points in the same three-dimensional space for describing the three-dimensional space through different time and device information (step S411 ).

It is worth mentioning that in the servo system, the database uses the index data to identify the anchor point information in the three-dimensional space, including the anchor ID and sensor information, so that the cloud system can use the information in each three-dimensional space. The relative positions of the multiple positioning points are used to describe the spatial information of the three-dimensional space to accurately locate the theorem position information of the device entering the three-dimensional space.

The system establishes positioning points describing each three-dimensional space through the electronic device. On the other hand, the system can also locate the electronic device according to these positioning points. In the embodiment shown in FIG. 5, a software program is executed in the electronic device 51 to It is a dedicated program connected with the servo system 100 to perform positioning, wherein the function can create positioning points and perform positioning. Wherein, through the software program, the electronic device 51 is switched to an editing mode, and the sensing circuit in the electronic device 51 generates sensing information that provides the servo system 100 to establish one or more positioning point data for each three-dimensional space, and the sensing The information is stored in the metadata of the anchor point (step S501 ). When switching to a scanning mode, the sensing information provided to the servo system 100 for positioning can be generated by the sensing circuit in the electronic device 51 (step S503 ), and the servo system 100 is matched to obtain the three-dimensional space where the electronic device 51 is located. When the point is located, the position of the electronic device 51 can be determined, and the relevant positioning information can be returned to the electronic device 51 (step S505 ).

FIG. 6 then shows a flowchart of an embodiment of a positioning method in a three-dimensional space. The positioning method is based on one or more positioning point data in each of one or more three-dimensional spaces recorded in a database in a servo system.

In the process of this embodiment, at the beginning, as in step S601, the servo system receives the sensing information transmitted by the electronic device, and the sensing information can come from various information that can be used for positioning at one or more positions of the electronic device in a three-dimensional space, The information including the wireless communication generated by the communication circuit may also be image data. Then, in step S603, the servo system parses the received sensing information, parses out the source electronic device of each sensing information, and the position information which can be used to locate and match the positioning point. The position information mainly relates to the electronic device and a stereo Spatial relationship of space.

After that, in the servo system, the environment feature information can be used to filter the positioning point data in the database first, so as to match one or more positioning point data in the three-dimensional space, and then determine the three-dimensional space where the electronic device is located (step S605 ). , and correspondingly obtain the positioning point data in the three-dimensional space (step S607 ), and then map the position information of the electronic device with the obtained one or more positioning point data (step S609 ), and generate positioning information (step S611 ).

Further, when the servo system receives the sensing information generated by the electronic device at a plurality of different positions in a certain three-dimensional space, so that the servo system generates multiple pieces of positioning information, a movement trajectory can be formed, as shown in Figure 7, and refer to FIG. 8 shows a flowchart of an embodiment of forming a movement trajectory in a three-dimensional space by a positioning method.

When the electronic device 70 is connected to the servo system through the software program-related communication circuit, the generated sensing information can be transmitted to the servo system. As shown in the figure, the servo system will receive the electronic device 70 at a certain position (such as the first position in this example). (x'1, y'1, z'1)) to transmit the sensing information (step S801), through the positioning method in the three-dimensional space described in the above embodiment, the position information of the electronic device 70 is obtained through analysis, and the servo system uses the software The method can first query the positioning point data in the database, determine the three-dimensional space where it is located, and then map the positioning point data according to the spatial relationship between each positioning point and the position of the electronic device 70 to locate the first three-dimensional space. A position (x'1, y'1, z'1) (step S803).

After that, the servo system continues to receive the sensing information transmitted by the electronic device 70 at another position (in this case, the second position (x'2, y'2, z'2)) (step S805 ), and the electronic device 70 is obtained by the same analysis. location information, and then continue to map the positioning point data to locate the second position (x'2, y'2, z'2) in the same three-dimensional space (step S807).

The servo system continues to receive the sensing information transmitted by the electronic device 70 at another different position (in this example, the third position (x'3, y'3, z'3)) (step S809), and continues to map the positioning point data for positioning The third position (x'3, y'3, z'3) (step S811), in the same way, the servo system receives the electronic device 70 at the last position (in this example, the fourth position (x'4, y'4 , z'4)) transmitted sensing information (step S813), and then map the positioning point data to locate the fourth position (x'4, y'4, z'4) (step S815). Finally, the servo system obtains the movement trajectory 700 of the electronic device 70 in the three-dimensional space according to the relationship between the first position and the fourth position (step S817 ).

It is worth mentioning that when the electronic device enters a certain three-dimensional space, the servo system will determine the three-dimensional space it is located in according to various information of the electronic device. You can refer to Figure 9 to illustrate the spatial relationship between the electronic device and each positioning point in the three-dimensional space. .

In the servo system, various communication information transmitted by the electronic device 90 can be applied, such as wireless communication signals received in the three-dimensional space, which will carry specific identification information (such as wireless local area network packets, Bluetooth communication packets, beacon information) , GPS information, etc.), so that the servo system can determine the three-dimensional space in which the electronic device 90 is located by comparing the positioning points (first positioning point T1, second positioning point T2, third positioning point T3) data in the database.

At this time, the servo system can perform a coordinate transformation to convert the coordinate system defining the position of the electronic device 90 into a coordinate system of a three-dimensional space including multiple positioning points (T1, T2, T3), so the relationship between the electronic device 90 and each positioning point can be obtained. Spatial relationship between points (T1, T2, T3). For example, the distance between the electronic device 90 and each positioning point (T1, T2, T3) can be determined by applying the signal strength and image features, and then the subsequent positioning process is performed.

For matching the positioning points in a specific three-dimensional space described in the above embodiments, reference may be made to the flowchart of the embodiment shown in FIG. 10 .

The servo system receives the image information generated by the electronic device (step S101 ). At this time, the servo system can use the intelligent means of image processing to learn the image features (step S103 ), and then according to these image features, it can learn to obtain spatial features (step S103 ). S105 ), wherein the image features of each position can be obtained through the image processing technology, and the spatial features of the three-dimensional space, including the depth, can be determined, and the objects therein can be identified and classified.

For example, the intelligent means can obtain the depth of the wall, floor, etc. of the electronic device and the three-dimensional space, and various objects in the space. When the servo system has obtained one or more positioning point data in the three-dimensional space, which can cover the environmental information of the three-dimensional space, or include the image information of the objects in the three-dimensional space, after processing by intelligent means, it can be concluded that the electronic device is in the three-dimensional space. The depth and related objects and other information.

Next, the image features determined from the sensing information of the electronic device are compared with the features of one or more positioning point data associated with the three-dimensional space in the database of the servo system, and the similarity between the image features and the spatial features between the positioning points can be calculated. degree (step S107 ), and then match the associated anchor points according to the similarity, wherein the method is to estimate the matching probability between the electronic device and each anchor point according to the similarity (step S109 ), and then obtain the matching three-dimensional space according to the matching probability. One or more anchor point data (step S111 ). Among them, according to an embodiment, the servo system can estimate the probability distribution of matching by comparing the feature information and the similar number of object detections through the simultaneous localization and map construction algorithm (SLAM) localization technology. The information transmitted by the device can be matched with the positioning points in the database, and a threshold can be set in it. When the matching rate is higher than this threshold, the positioning points obtained are matched. Finally, the system based on the position information of the electronic device and the information of these positioning points The positioning can be completed (step S113 ).

The purpose of spatial positioning by sparse point cloud spatial information is achieved by applying the methods for establishing positioning points and using positioning points to perform positioning described in the above embodiments, and reference may be made to the embodiment diagram shown in FIG. 11 .

The figure shows that the user carries the electronic device 120 into a three-dimensional space 200, and moves between multiple positions (eg, the user positions 151, 152, 153). At this time, the sensing circuit of the electronic device 120 begins to generate a sense of The sensing information can be transmitted to the servo system 110 through the network 11 through a specific application program (such as an APP) therein.

When a specific program in the servo system 110 receives the information transmitted by the electronic device 120, the identification information of the electronic device 120 can be obtained from the information recorded therein. For example, it includes a user ID, a device ID, and also includes information about the three-dimensional space 200 obtained from the sensing information, such as position information, spatial information, or image information, etc. , the information is provided to the positioning calculation unit in the servo system 110 (as shown in FIG. 1 , 105 ), so that it can query the database (as shown in FIG. 1 , 101 ) according to the information provided by the electronic device 120 , and the spatial identification of the three-dimensional space 200 can be obtained. space ID, identify the three-dimensional space 200 where the electronic device 120 is located, and query one or more anchor points (anchor ID, anchor ID) that have been established in the three-dimensional space 200, including The environmental feature information filters out valid anchor points, such as anchor points 111, 112, 113, 114 shown in the figure. When the information received from the electronic device 120 is verified to be available this time, an anchor point can also be formed. These anchor points establish the sparse point cloud.

In this way, when the user enters the three-dimensional space 200 with the electronic device 120, it connects with the servo system 110 at any time and transmits sensing information, so that the software program in the servo system 110 can compare the positioning points 111, 112, 113, 114 to obtain Out of user positions, as shown in the figure several moved to user positions 151, 152, 153. In another embodiment, the electronic device 120 can also load the information of the positioning points 111 , 112 , 113 , and 114 in the current three-dimensional space 200 from the servo system 110 , so that the position of the electronic device 120 can also be located, so that it can The movement trajectory of the electronic device 120 is calculated.

What's more, the database in the servo system 110 records the positioning points 111, 112, 113, 114 information, and also includes image information, so it is possible to interpret the objects 115, 116 in the three-dimensional space through the image features, and also from the image features. Get more spatial information, such as depth information, walls, corners, ground and other information.

To sum up, according to the embodiments of the three-dimensional space positioning method and system, the system establishes an anchor for describing the three-dimensional space according to various data uploaded by the electronic device of the terminal, and the method does not require looping. Scene scanning or the construction of positioning devices such as beacons, only need to rely on the environmental features obtained by the electronic device at specific angles at different positions, and combine the visual inertia to calculate the dead position, that is, the point cloud feature string at different positions. It can even achieve the purpose of describing spatial information and positioning.

The contents disclosed above are only preferred feasible embodiments of the present invention, and are not intended to limit the scope of the present invention. Therefore, any equivalent technical changes made by using the contents of the description and drawings of the present invention are included in the application of the present invention. within the scope of the patent.

10: Internet 100: Servo system 101: Database 103: Three-dimensional space description unit 105: Positioning calculation unit 12: Three-dimensional space one 121, 141: Electronic Devices 14: Stereoscopic space II 107: Communication unit 20: Electronics 201: Controller 203: Sensor One 205: Sensor 2 207: Positioning unit 209: Photography Unit 211: Communication unit 22: Servo system 30: Stereoscopic space T1: The first positioning point T2: The second anchor point T3: The third anchor point 51: Electronic Devices 70: Electronics 700: Movement track 90: Electronics 11: Internet 110: Servo system 120: Electronic Devices 200: Stereoscopic space 111, 112, 113, 114: Anchor points 115, 116: Objects 151, 152, 153: User position Steps S401-S411: establishing the positioning point process Steps S501-S505: Edit Mode and Scan Mode Flow Steps S601-S611: positioning process in three-dimensional space Steps S801-S817: the flow of forming the movement track Steps S101-S113: positioning process in three-dimensional space

FIG. 1 shows an embodiment diagram of a system architecture for realizing a positioning method in a three-dimensional space;

FIG. 2 shows a schematic diagram of an embodiment of circuit elements of an electronic device in the positioning system;

FIG. 3 shows an embodiment diagram of establishing a plurality of anchor points in a three-dimensional space;

FIG. 4 shows an embodiment flow chart of establishing an anchor point in a three-dimensional space;

FIG. 5 schematically shows a schematic diagram of an embodiment of an editing mode and a scanning mode of an electronic device;

6 shows a flow chart of an embodiment of a method for positioning in a three-dimensional space;

FIG. 7 shows an embodiment diagram of forming a movement track in a three-dimensional space by a positioning method;

8 shows a flowchart of an embodiment of a positioning method for forming a movement track;

FIG. 9 shows an embodiment diagram of the spatial relationship between the electronic device and each positioning point in a three-dimensional space;

FIG. 10 shows a flowchart of an embodiment of a method for positioning in a three-dimensional space through intelligent calculation; and

FIG. 11 shows a schematic diagram of an embodiment of the relationship between the electronic device and the objects in the three-dimensional space.

S601: Receive the sensing information transmitted by the electronic device

S603: Parse the sensing information to obtain location information therein

S605: Determine the three-dimensional space where the electronic device is located

S607: Obtain the positioning point data in the three-dimensional space

S609: Map the position information of the electronic device with the positioning point data

S611: Generate positioning information

Claims (9)

A positioning method in a three-dimensional space, running in a servo system, wherein the servo system records one or more positioning point data in each three-dimensional space in one or more three-dimensional spaces with a database, the three-dimensional space positioning method Including: receiving sensing information transmitted by an electronic device, wherein the sensing information generated by the electronic device includes one or more of an accelerometer, a gyroscope, a positioning circuit and a communication circuit in the electronic device The sensing information generated by the sensing circuit also includes an image obtained by a photographing unit in the electronic device at a position in the three-dimensional space, and the image feature of the position becomes the basis for obtaining the data of the one or more positioning points; analyzing the sensing measuring information to obtain position information of the electronic device, wherein the position information is the spatial relationship between the electronic device and a three-dimensional space; querying the database to match one or more positioning point data in the three-dimensional space; and to obtain The one or more positioning point data of the electronic device is mapped to the position information of the electronic device to generate a positioning information; wherein, in the servo system, the image features formed by using the image generated by the electronic device match the one or more of the three-dimensional space. A method for locating point data includes: receiving an image generated by the electronic device; obtaining image features after image processing; judging spatial features, including depth and objects, according to the image features; generating spatial information through a sparse point cloud feature the one or more positioning point data; compare the one or more positioning point data associated with the three-dimensional space to the database, calculate the similarity between the image feature and the spatial feature between the positioning points, and calculate the relationship between the electronic device and the three-dimensional space. the probability of a match for each anchor; and The one or more positioning point data matching the three-dimensional space is obtained according to the matching probability. The positioning method in a three-dimensional space as claimed in claim 1, wherein when the servo system receives sensing information of the electronic device at multiple different positions in the three-dimensional space, multiple pieces of positioning information are generated to form a movement track. The method for positioning in three-dimensional space as claimed in claim 1, wherein a software program is executed in the electronic device, and in a scanning mode, the sensing circuit in the electronic device generates sensing information provided to the servo system to perform positioning; In an editing mode, the sensing information for establishing the one or more positioning point data is generated by the sensing circuit in the electronic device. The method for positioning in a three-dimensional space according to claim 3, wherein the method for establishing the one or more positioning point data in the three-dimensional space recorded in the database comprises: receiving a sensing circuit in one or more electronic devices at Sensing information generated by one or more positions in the three-dimensional space; and calculating the spatial relationship between each position and the three-dimensional space according to the sensing information of the one or more positions, and establishing the three-dimensional space The one or more anchor points in the three-dimensional space are described by the one or more anchor points. The positioning method in a three-dimensional space according to claim 4, wherein the sensing information includes images obtained by the electronic device at each position, and the images are images covering a spatial angle facing an orientation at each position. The positioning method in a three-dimensional space according to claim 5, wherein the image features of each position are obtained through image processing technology, and the spatial features of the three-dimensional space, including the depth, are determined, and the objects therein are identified and classified. A positioning system in a three-dimensional space, comprising: a servo system, wherein a database is set for recording data of one or more positioning points in one or more three-dimensional spaces; The servo system runs a positioning method in a three-dimensional space, comprising: receiving sensing information transmitted by an electronic device, wherein the sensing information generated by the electronic device includes an accelerometer, a gyroscope, and a positioning circuit in the electronic device and sensing information generated by one or more of the sensing circuits in a communication circuit, and also includes an image obtained at a position in the three-dimensional space by a photographing unit in the electronic device, and the position image feature is to obtain the one or the basis of a plurality of positioning point data; analyze the sensing information to obtain the position information of the electronic device, wherein the position information is the spatial relationship between the electronic device and a three-dimensional space; query the database to match the position information in the three-dimensional space one or more positioning point data; and mapping the position information of the electronic device with the obtained one or more positioning point data to generate a positioning information; wherein, in the servo system, the image generated by the electronic device is used to form The method for matching the image features of the one or more positioning point data in the three-dimensional space includes: receiving an image generated by the electronic device; obtaining image features after image processing; judging spatial features, including depth and object, according to the image features ; Generate the one or more locating point data through spatial information of a sparse point cloud feature; compare the one or more locating point data associated with the three-dimensional space to the database, and calculate the relationship between the image feature and each locating point The similarity of spatial features is used to calculate the matching probability between the electronic device and each positioning point; and the one or more positioning point data matching the three-dimensional space is obtained according to the matching probability. The three-dimensional space positioning system according to claim 7, wherein the electronic device is Execute a software program, in a scan mode, generate sensing information provided to the servo system to perform positioning through a sensing circuit in the electronic device; in an edit mode, generate and create the one through a sensing circuit in the electronic device or sensing information of multiple anchor data. The positioning system in a three-dimensional space according to claim 8, wherein the method for establishing the one or more positioning point data in the three-dimensional space recorded in the database comprises: receiving a sensing circuit in one or more electronic devices at Sensing information generated by one or more positions in the three-dimensional space; and calculating the spatial relationship between each position and the three-dimensional space according to the sensing information of the one or more positions, and establishing the three-dimensional space The one or more anchor points in the three-dimensional space are described by the one or more anchor points.

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