CN109540127A - Method for determining position, mobile robot, storage medium and electronic equipment - Google Patents

Method for determining position, mobile robot, storage medium and electronic equipment Download PDF

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Publication number
CN109540127A
CN109540127A CN201811498024.9A CN201811498024A CN109540127A CN 109540127 A CN109540127 A CN 109540127A CN 201811498024 A CN201811498024 A CN 201811498024A CN 109540127 A CN109540127 A CN 109540127A
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CN
China
Prior art keywords
location information
information
beacon message
mark
label means
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201811498024.9A
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Chinese (zh)
Inventor
张天晔
何田
陆佳明
丁一
季芸
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rajax Network Technology Co Ltd
Lazhasi Network Technology Shanghai Co Ltd
Original Assignee
Lazhasi Network Technology Shanghai Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Lazhasi Network Technology Shanghai Co Ltd filed Critical Lazhasi Network Technology Shanghai Co Ltd
Priority to CN201811498024.9A priority Critical patent/CN109540127A/en
Publication of CN109540127A publication Critical patent/CN109540127A/en
Pending legal-status Critical Current

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257Hybrid positioning
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/10Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems

Abstract

The embodiment of the invention discloses a kind of method for determining position, mobile robot, storage medium and electronic equipments.The embodiment of the present invention is by receiving at least one beacon message, and the second location information is determined according to the mark of the position label means in beacon message, to be modified according to the second location information to based on the first location information that image mode obtains, self-position is determined.Thus, it is possible to relatively accurately be positioned to terminal realization.

Description

Method for determining position, mobile robot, storage medium and electronic equipment
Technical field
The present invention, which discloses, is related to technical field of data processing, and in particular to a kind of method for determining position, removable movement machine People, storage medium and electronic equipment.
Background technique
With the continuous development of science and technology, various types of robots gradually become more and more popular.Robot can apply In food delivery, cleaning, shopping etc., efficient, reduction human cost can be played the role of.The movement of robot usually relies on light Reflection navigation positioning system (that is, using rangings such as laser, infrared rays to navigate) or predefined paths navigator fix system The navigation positioning systems such as system, when navigation positioning system occurs abnormal, robot can not then work.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of method for determining position, mobile robot, storage medium and Electronic equipment can obtain accurate positioning, to allow the robot to faster when navigation positioning system occurs abnormal Resume work on ground.
In a first aspect, the embodiment of the invention discloses a kind of method for determining position, which comprises
Obtain image information;
According to the first location information of described image acquisition of information;
At least one beacon message is received, the beacon message includes the mark of position label means;
The second location information is determined according to the beacon message;
First location information is modified according to second location information, determines self-position.
Preferably, described to determine that the second location information includes: according to the beacon message
Position report information is determined according to the mark of the position label means and second identifier;
Send the position report information;
Receive second location information.
It is preferably, described that second location information is determined according to the beacon message further include:
In response to sending position report information failure or receiving the second location information failure, according to being stored in advance Cartographic information and the marks of the position label means determine second location information;
Wherein, the cartographic information includes the corresponding location information of mark of the position label means.
Preferably, described to determine that the second location information includes: according to the beacon message
Extract the signal strength of the beacon message;
Position report information is determined according to the mark of the position label means, the signal strength and second identifier;
Send position report information;
Receive second location information.
It is preferably, described that second location information is determined according to the beacon message further include:
In response to sending position report information failure or receiving the second location information failure, according to being stored in advance Cartographic information, the position label means mark and the signal strength determine second location information;
Wherein, the cartographic information includes the corresponding location information of mark of the position label means.
Preferably, the cartographic information according to the pre-stored data, the mark of the position label means and the signal are strong Degree determines that second location information includes:
It is marked according to position described in the persistently variation tendency of the signal strength of received beacon message and the cartographic information The position for determining device determines second location information.
Second aspect, the embodiment of the invention discloses a kind of mobile robot, the robot includes:
Mobile system, for driving robot mobile;
Robot visual location system, for obtaining image information, and according to the first positioning system of image information acquisition;
Aided positioning system, for receiving at least one beacon message, the beacon message includes position label means Mark determines the second location information according to the beacon message, and is believed according to second location information first positioning Breath is modified.
The third aspect, the embodiment of the invention discloses a kind of determining device of position, described device includes:
Image acquisition unit, for obtaining image information;
First positioning acquiring unit, for according to the first location information of described image acquisition of information;
Calibration information receiving unit, for receiving at least one beacon message, the beacon message includes location position dress The mark set;
Second positioning acquiring unit, for determining the second location information according to the beacon message;
Position determination unit is determined for being modified according to second location information to first location information Self-position.
Fourth aspect, the embodiment of the invention discloses a kind of computer readable storage mediums, store computer program thereon Instruction, wherein the computer program instructions realize the method as described in any one of first aspect when being executed by processor.
5th aspect, the embodiment of the invention provides a kind of electronic equipment, including memory and processor, wherein described Memory is for storing one or more computer program instructions, wherein one or more computer program instructions are by institute Processor is stated to execute to realize following steps:
Obtain image information;
According to the first location information of described image acquisition of information;
At least one beacon message is received, the beacon message includes the mark of position label means;
The second location information is determined according to the beacon message;
First location information is modified according to second location information, determines self-position.
The embodiment of the present invention, which passes through, receives at least one beacon message, and according to the position label means in beacon message It identifies and determines the second location information, to be carried out according to the second location information to the first location information obtained based on image mode Amendment, determines self-position.Thus, it is possible to relatively accurately be positioned to terminal realization.
Detailed description of the invention
By referring to the drawings to the description of the embodiment of the present invention, the above and other purposes of the present invention, feature and Advantage will be apparent from, in the accompanying drawings:
Fig. 1 is the schematic diagram of the hardware system structure of the embodiment of the present invention;
Fig. 2 is the flow chart of the method for determining position of first embodiment of the invention;
Fig. 3 is the flow chart that the second location information is determined in an optional implementation of first embodiment of the invention;
Fig. 4 is the application scenario diagram of an optional implementation of first embodiment of the invention;
Fig. 5 is the process that the second location information is determined in another optional implementation of first embodiment of the invention Figure;
Fig. 6 is the part signal in building where robot in another optional implementation of first embodiment of the invention Figure;
Fig. 7 is the signal that signal identification sequence is obtained in another optional implementation of first embodiment of the invention Figure;
Fig. 8 is the signal that the second location information is determined in another optional implementation of first embodiment of the invention Figure;
Fig. 9 is the schematic diagram of the mobile robot of second embodiment of the invention;
Figure 10 is the schematic diagram of the determining device of the position of third embodiment of the invention;
Figure 11 is the schematic diagram of the electronic equipment of fourth embodiment of the invention.
Specific embodiment
The present invention is disclosed below based on embodiment and is described, but the present invention discloses and is not restricted to these implementations Example.It is detailed to describe some specific detail sections below in datail description disclosed by the invention.To those skilled in the art Of the invention disclose can also be understood completely in the description of part without these details for member.It is disclosed by the invention in order to avoid obscuring Essence, there is no narrations in detail for well known method, process, process, element and circuit.
In addition, it should be understood by one skilled in the art that provided herein attached drawing be provided to explanation purpose, and What attached drawing was not necessarily drawn to scale.
Unless the context clearly requires otherwise, "include", "comprise" otherwise throughout the specification and claims etc. are similar Word should be construed as the meaning for including rather than exclusive or exhaustive meaning;That is, be " including but not limited to " contains Justice.
In description disclosed by the invention, it is to be understood that term " first ", " second " etc. are used for description purposes only, It is not understood to indicate or imply relative importance.In addition, in description disclosed by the invention, it is unless otherwise indicated, " more It is a " it is meant that two or more.
In the examples below, the method for determining position of the present embodiment is applied to mobile robot (that is, machine Device people) for be illustrated.But it should be readily apparent to one skilled in the art that the scheme of the present embodiment is equally applicable to determine mobile phone Equal self-positions.In the prior art, robot usually relies on light reflection navigation positioning system or predefined paths navigator fix system The navigation positioning systems such as system are moved.In general, above-mentioned navigation positioning system can guarantee the accuracy of positioning, from And it allows the robot to work normally.But exception or robot occur in navigation positioning system is caused to deviate in advance by substantially mobile When orbit determination road, robot can not then work.
Fig. 1 is the schematic diagram of the hardware system structure of the embodiment of the present invention.As shown in Figure 1, the system architecture includes machine Device people 11, server 12 and position label means 13.Wherein, position label means 13 can wirelessly send beacon and disappear Breath.Robot 11 and server 12 are communicatively coupled by network.Robot 11 is receiving the transmission of position label means 13 Beacon message after, can determine position report information according to the mark of the position label means 13 in beacon message, and by position It sets report information and server 12 is sent to by network.Server 12 can determine the of robot 11 according to position report information Two location informations, and the second location information is sent to robot 11.Robot 11 can be according to the second location information pair as a result, The first location information obtained based on image mode is modified, and is relatively accurately positioned to realize.
Fig. 2 is the flow chart of the method for determining position of first embodiment of the invention.As shown in Fig. 2, the present invention first is real The method for determining position for applying example includes the following steps:
Step S100 obtains image information.
In this step, robot can acquire the image information of surrounding with shorter predetermined period, can also adopt in real time Image information around collecting.Specifically, image information can be the two dimensional image obtained by video camera or pass through laser scanning The three-dimensional image etc. that system obtains.Thus, it is possible to subsequent according to the first location information of image information acquisition.
Step S200, according to the first location information of image information acquisition.
In this step, image information can be split, and carries out feature extraction, obtain the key in image information Point or key point converge conjunction, to carry out identification to key point cloud to obtain the first location information.At the same time it can also pass through light Navigation positioning system obtains the distance between robot object corresponding with key point or key point cloud, so that acquisition is more accurate The first location information.For example, can be according to " Zhang Handong, Xie Wei are based on the robot target identification of image procossing and positioning system Unite electric information institute, Anhui University of Technology, Anhui Maanshan 243002 " in record method obtain the first location information, It can be according to " Zhang Haibo, former chief, Zhou Qingrui are automated based on the Visual Navigation of Mobile Robots Chinese Academy of Sciences of Path Recognition Research institute's high technology innovation center, Beijing 100080 " in record method obtain the first location information.It should be understood that according to image The method of the first location information of acquisition of information be not limited to it is above two, can also according to other methods obtain the first location information.
Step S300 receives at least one beacon message.
The navigation positioning system of robot is commonly used in the movement of guidance machine people indoors, therefore is moved out of in robot When the indoor environment at place, robot is possibly can not be according to the first location information of image information acquisition.Go out in navigation positioning system When now abnormal, robot may also can not be according to accurate first location information of image information acquisition or can not be according to image The first location information of acquisition of information.At this point, robot can receive at least one beacon message.Beacon message is used for subsequent right Robot carries out auxiliary positioning.It should be understood that robot can also be simultaneously when that can obtain accurate first location information Receive at least one beacon message.
In the present embodiment, for position label means for sending beacon message, position label means are wireless telecom equipment. Specifically, position label means can be Bluetooth signal sending device, or WiFi signal sending device etc..More specifically Ground, in the present embodiment, position label means are that the transmission of BLE (Bluetooth Low Energy, Bluetooth Low Energy) signal is set It is standby.BLE is one kind of wireless communication technique, has the characteristics that low-power consumption, low cost, therefore use BLE apparatus for transmitting signal energy It is enough to reduce the cost for sending beacon message.
In the present embodiment, beacon message includes the mark of position label means.Wherein, the mark of position label means can Think the encrypted feature signal of position label means, can be the radio-frequency fingerprint of position label means specifically.The radio frequency of device Fingerprint is the physical layer substantive characteristics of device, and radio-frequency fingerprint is similar with the fingerprint of people, is difficult to be imitated and modify.It can be using each The existing method of kind extracts the radio-frequency fingerprint of position label means, such as " Yu Jiabao, Hu Aiqun, Zhu Changming, Peng Linning, Jiang Yu The radio-frequency fingerprint of wireless telecom equipment extracts and recognition methods password journal, 2016.3 (5): 433-446 " in the method recorded. It should be understood that in the present embodiment, encrypted feature signal is not limited to radio-frequency fingerprint, can also be other encrypted feature signals.
Step S400 determines the second location information according to beacon message.
In the present embodiment, the location information of position label means is it is known that therefore can be according to the mark of position label means Know and obtain corresponding location information, and the second location information is determined according to the location information of position label means.
It should be understood that step S300 and S400 may be performed simultaneously with step S100 and S200, can also successively execute, it is not necessary to Differentiation executes sequence.
Fig. 3 is the flow chart that the second location information is determined in an optional implementation of first embodiment of the invention. As shown in figure 3, step S400 may include steps of in an optional implementation of the present embodiment:
Step S410 determines position report information according to the mark of position label means and second identifier.
Wherein, second identifier is terminal iidentification.In an optional implementation of the present embodiment, robot can root The second location information is determined according to a beacon message.Specifically, in this step, robot can will be in a beacon message The mark and second identifier of position label means bind a position report information.
Step S420 sends position report information.
Position report information can be sent to corresponding server after determining position report information by robot.Service Device can determine the second location information of robot according to position report information.Specifically, server can be according to location position The location information of device determines robot location and as the second location information.In this step, device is reported in position Location information may include floor information.The floor information that server can report device according to position as a result, which obtains, determines institute In floor and as the second location information.It should be understood that can also be simultaneously using robot location and floor information as second Location information.
Fig. 4 is the application scenario diagram of an optional implementation of first embodiment of the invention.Robot receives letter After marking message, position report information can be obtained according to beacon message and is sent to server.As shown in figure 4, server can be with Each terminal iidentification and corresponding device identification are shown in position report information display window 41.Terminal iidentification may include machine The mark of people 1, robot 2, robot 3, robot 4, robot 5 etc., corresponding position label means can be respectively device Mark 1, device identification 2, device identification 3, device identification 4, device identification 5 etc..Server after receiving position report information, The location information of available position label means, and determine corresponding second location information of each robot.Determine the second positioning After information, server can be shown the terminal iidentification of each robot and corresponding second location information in position display window 42 In.Meanwhile corresponding second location information of each robot can also be sent back corresponding robot by server.
Step S430 receives the second location information.
Second location information can be sent to the corresponding machine of second identifier after determining the second location information by server People.Robot can receive the second location information as a result,.
Optionally, failure or the second location information reception failure, such as network connection state are sent in position report information When abnormal, robot can also determine that the second positioning is believed with the mark of cartographic information according to the pre-stored data and position label means Breath.It wherein, include the location information of position label means in cartographic information.Specifically, robot can be filled according to location position The mark set obtains corresponding location information, and the second location information of itself is determined according to the location information of caliberating device.It answers Understand, the location information of position label means also may include floor information.
It should be understood that robot can not also send position report information, direct map according to the pre-stored data to server The mark of information and position label means determines the second location information.
Fig. 5 is the process that the second location information is determined in another optional implementation of first embodiment of the invention Figure.As shown in figure 5, step S400 may include steps of in another optional implementation of the present embodiment:
Step S410 ' extracts the signal strength of beacon message.
In another optional implementation of the present embodiment, robot can be according in the inscribed receipts of same a period of time To multiple beacon messages determine the second location information.Specifically, robot needs to distinguish when receiving multiple beacon messages Extract the signal strength of multiple beacon messages.It in this step, can be according to RSSI (Received Signal Strength Indication, the instruction of received signal intensity) method obtains signal strength of the RSSI value as beacon message of beacon message. It should be understood that the signal strength of beacon message can also be obtained according to other modes.
Step S420 ' determines position report information according to the mark, signal strength and second identifier of position label means.
In this step, robot can be by the mark of each position label means in multiple beacon messages and corresponding Signal strength and second identifier bind a position report information.Preferably, robot can also be by multiple beacon messages In multiple positions report the mark of device and corresponding signal strength and second identifier bind a position report information, Thus, it is possible to reduce the complexity for obtaining position report information.It should be understood that the time cycle is to preset, it can be by week time Phase is set as lesser value, thus, it is possible to reduce influence of the time for receiving beacon message to terminal location.
Step S430 ' sends position report information.
Position report information can be sent to corresponding server after determining position report information by robot.Service Device can determine the second location information of robot according to position report information.The same horizontal position is in position label means Or upright position, such as when at the doorway of the same side trade company, since position label means are likely to occur failure, position is caused to be marked The signal for determining device sends intensity and generates variation, and server can be arranged according to mark of the signal strength to position label means Sequence simultaneously obtains signal identification sequence, and true according to the corresponding location information of the mark of each position caliberating device in signal identification sequence Determine the second location information of robot.
Fig. 6 is the part signal in building where robot in another optional implementation of first embodiment of the invention Figure.Robot 61 can not be in building as shown in FIG. 6 according to the location information of image information acquisition itself, but at every layer in building Same position is equipped with a position label means 62, and robot can be obtained according to the beacon message that position label means are sent at this time Take the second location information.Fig. 7 is that signal identification sequence is obtained in another optional implementation of first embodiment of the invention Schematic diagram.As shown in fig. 7, position label means in the report information of position are identified as device identification 1, device identification 2, dress Mark 3, device identification 4 and device identification 5 are set, corresponding signal strength is 26,10,18,25 and 19, and corresponding floor information is One layer, two layers, four layers, three layers and five layers.After being sorted according to signal strength, position label means can be obtained and identify corresponding letter Number mark sequence is a floor, four floor, five floor, three floor, two floor, the rule of two layers to the five layers strong and weak variation for meeting signal strength. Hence, it can be determined that floor where terminal is four layers, and three layers of position label means produce exception.
When position label means are not at the same horizontal position or upright position, server can disappear according to different beacons The signal strength of breath obtains the distance of robot and different location caliberating device.Due to position label means location information Know, it specifically, can be according to " Bluetooth signal of Tang little Ming, Kong Fanjun, Zhu Hongwei, the Xu Haihua based on received signal strength indicator Source positioning, information control fusion institute, naval aviation engineering college, Shandong Yantai 264001 " in record method obtain robot and The distance of different location caliberating device.In the quantity more than three of the mark of position label means, it is preferable that can also basis Second location information of trilateration acquisition robot.
Fig. 8 is the signal that the second location information is determined in another optional implementation of first embodiment of the invention Figure.As shown in figure 8, server can be according to the mark of three position label means in the position report information that robot is sent Determine the location information of robot (that is, determining that the position of robot is believed according to trilateration with corresponding signal strength Breath).Wherein, the location information of position label means 1 is (x1, y1), and the location information of position label means 2 is (x2, y2), position The location information for setting caliberating device 3 is (x3, y3).Signal according to the corresponding beacon message of mark of each position caliberating device is strong It is each substantially r1, r2 and r3 at a distance from robot that degree, which gets each position caliberating device,.Specifically, letter can be obtained in advance Number intensity-distance corresponding relationship, to obtain robot and corresponding signal scaling according to the signal strength of each beacon message The distance (that is, r1, r2 and r3) of device.Server can determine the location of robot (that is, triangle as a result, Region 81) the second location information as robot.Preferably, server can also determine that the mass center of delta-shaped region 81 is made For the second location information of robot.
The location information that server can also come the position label means of maximum front three according to signal strength determines Second location information of robot.Specifically, it can be determined in plane map according to the coordinate of three position label means Using three coordinates as the delta-shaped region on vertex, and using the mass center of delta-shaped region as the second location information of robot.
The location information that server can also come the position label means of maximum front two according to signal strength determines Second location information of robot.For example, the coordinate of two position label means is determined with two coordinates in plane map For first line segment on vertex, and the distance of robot and corresponding signal scaling device is obtained according to signal strength respectively.Specifically Ground can obtain signal strength-distance corresponding relationship in advance, to obtain machine according to the signal strength of two beacon messages The distance of people and corresponding signal scaling device.It, can root since signal strength may be subjected to the influence of barrier etc. Second line segment is determined on the first line segment according to the distance of robot and two position label means.It then can be second line segment Second location information of the corresponding range of endpoint as robot.Preferably, the corresponding seat in the midpoint of second line segment can also be taken It is denoted as the second location information for robot.
It should be understood that in the present embodiment, the mode for obtaining the second location information is not limited to aforesaid way, it can also be passed through His mode obtains the second location information.
Step S440 ' receives the second location information.
Second location information can be sent to the corresponding machine of second identifier after determining the second location information by server People.Robot can receive the second location information as a result,.
Optionally, failure or the second location information reception failure, such as network connection state are sent in position report information When abnormal, robot can also determine with cartographic information according to the pre-stored data, the mark of position label means and signal strength Two location informations.Wherein, cartographic information includes the corresponding location information of mark of position label means.It should be understood that location position The location information of device also may include floor information.
It should be understood that robot can not also send position report information, direct map according to the pre-stored data to server Information, the mark of position label means and signal strength determine the second location information.
Specifically, robot can continue to receive beacon message, and according to the signal strength of persistently received beacon message Variation tendency and cartographic information in the location informations of position label means determine the second location information.More specifically, robot In may include direction sensing device, robot can carry out the movement of different directions and obtain the direction letter of direction sensing device Breath, determines the second location information according to the variation tendency of directional information and the signal strength of a beacon message.For example, robot Moved in front of to current direction, the signal strength of beacon message is lower, robot can to the rear of current direction into Row movement.When putting forward or movement rearward influences smaller to the variation tendency of signal strength, robot can be attempted To the left, the directions such as right, left front, right back are moved.It is being gradually increased, and is increasing in the signal strength of beacon message Fast speed when, robot can be continued to move to by the direction, until the signal strength of beacon message meets predetermined condition, such as When greater than predetermined threshold, robot can determine itself already close to a position label means.Robot is available as a result, Second location information of the location information of the position label means as itself.
The second location information of itself can also be obtained according to the method enumerated in step S430 '.It should be understood that in this implementation In example, the mode for obtaining the second location information is not limited to aforesaid way, can also obtain the second location information by other means.
Step S500 is modified the first location information according to the second location information, determines self-position.
Specifically, when the first location information and the second location information are coordinate or longitude and latitude, available second is fixed Location information of the average value of position information and the first location information as robot.It can also be fixed to the second location information and first Position information assigns different weights, and obtains position of the weighted sum of the first location information and the second location information as robot Information.
It should be understood that robot can be directly by the second positioning when that can not determine self-position according to the first location information Position of the information as itself.
The present embodiment, which passes through, receives at least one beacon message, and according to the mark of the position label means in beacon message The second location information is determined, to repair according to the second location information to based on the first location information that image mode obtains Just, self-position is determined.Thus, it is possible to relatively accurately be positioned to terminal realization.
Fig. 9 is the schematic diagram of the mobile robot of second embodiment of the invention.As shown in figure 9, the present embodiment is removable Mobile robot includes at least mobile system 91, Robot visual location system 92 and aided positioning system 93.
Wherein, mobile system 91 is for driving robot mobile.Robot visual location system 92 is for obtaining image letter Breath, and according to the first positioning system of image information acquisition.Aided positioning system 93 is described for receiving at least one beacon message Beacon message includes the mark of position label means, determines the second location information according to the beacon message, and according to described Two location informations are modified first location information.
Figure 10 is the schematic diagram of the determining device of the position of third embodiment of the invention.As shown in Figure 10, the present embodiment The acquisition device of position includes that image acquisition unit 101, first positions acquiring unit 102, calibration information receiving unit 103, the Two positioning acquiring units 104 and position determination unit 105.
Wherein, image acquisition unit 101 is for obtaining image information.First positioning acquiring unit 102 is used for according to The first location information of image information acquisition.Calibration information receiving unit 103 is for receiving at least one beacon message, the beacon Message includes the mark of position label means.Second positioning acquiring unit 104 is used to determine that second is fixed according to the beacon message Position information.Position determination unit 105 is determined for being modified according to second location information to first location information Self-position.
The present embodiment, which passes through, receives at least one beacon message, and according to the mark of the position label means in beacon message The second location information is determined, to repair according to the second location information to based on the first location information that image mode obtains Just, self-position is determined.Thus, it is possible to relatively accurately be positioned to terminal realization.
Figure 11 is the schematic diagram of the electronic equipment of fourth embodiment of the invention.As shown in figure 11, it the electronic equipment: at least wraps Include a processor 1101;And the memory 1102 with the communication connection of at least one processor 1101;And it is filled with scanning The communication component 1103 of communication connection is set, communication component 1103 sends and receivees data under the control of processor 1101;Wherein, Memory 1102 is stored with the instruction that can be executed by least one processor 1101, and instruction is executed by least one processor 1101 To realize:
Obtain image information;
According to the first location information of described image acquisition of information;
At least one beacon message is received, the beacon message includes the mark of position label means;
The second location information is determined according to the beacon message;
First location information is modified according to second location information, determines self-position.
Further, described to determine that the second location information includes: according to the beacon message
Position report information is determined according to the mark of the position label means and second identifier;
Send the position report information;
Receive second location information.
It is further, described that second location information is determined according to the beacon message further include:
In response to sending position report information failure or receiving the second location information failure, according to being stored in advance Cartographic information and the marks of the position label means determine second location information;
Wherein, the cartographic information includes the corresponding location information of mark of the position label means.
Further, described to determine that the second location information includes: according to the beacon message
Extract the signal strength of the beacon message;
Position report information is determined according to the mark of the position label means, the signal strength and second identifier;
Send the position report information;
Receive second location information.
It is further, described that second location information is determined according to the beacon message further include:
In response to sending position report information failure or receiving the second location information failure, according to being stored in advance Cartographic information, the position label means mark and the signal strength determine second location information;
Wherein, the cartographic information includes the corresponding location information of mark of the position label means.
Further, the cartographic information according to the pre-stored data, the mark of the position label means and the signal Intensity determines that second location information includes:
It is marked according to position described in the persistently variation tendency of the signal strength of received beacon message and the cartographic information The position for determining device determines second location information.
Further, described be modified according to second location information to first location information includes:
The position can not be determined in response to first location information characterization, and institute is determined according to second location information Rheme is set.
Further, the encrypted feature signal for being identified as the position label means of the position label means.
Specifically, which includes: one or more processors 1101 and memory 1102, with one in Figure 11 For processor 1101.Processor 1101, memory 1102 can be connected by bus or other modes, to pass through in Figure 11 For bus connection.Memory 1102 is used as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile Software program, non-volatile computer executable program and module.Processor 1101 is stored in memory 1102 by operation In non-volatile software program, instruction and module, thereby executing the various function application and data processing of equipment, i.e., in fact Existing above-mentioned method for determining position.
Memory 1102 may include storing program area and storage data area, wherein storing program area can store operation system Application program required for system, at least one function;It storage data area can the Save option list etc..In addition, memory 1102 can It can also include nonvolatile memory to include high-speed random access memory, a for example, at least disk memory is dodged Memory device or other non-volatile solid state memory parts.In some embodiments, it includes relative to place that memory 1102 is optional The remotely located memory of device 1101 is managed, these remote memories can pass through network connection to external equipment.Above-mentioned network Example includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
One or more module is stored in memory 1102, when being executed by one or more processor 1101, Execute the method for determining position in above-mentioned any means embodiment.
The said goods can be performed the application embodiment provided by method, have the corresponding functional module of execution method and Beneficial effect, the not technical detail of detailed description in the present embodiment, reference can be made to method provided by the application embodiment.
The present embodiment, which passes through, receives at least one beacon message, and according to the mark of the position label means in beacon message The second location information is determined, to repair according to the second location information to based on the first location information that image mode obtains Just, self-position is determined.Thus, it is possible to relatively accurately be positioned to terminal realization.
The fifth embodiment of the present invention is related to a kind of non-volatile memory medium, for storing computer-readable program, institute Computer-readable program is stated for executing above-mentioned all or part of embodiment of the method for computer.
That is, it will be understood by those skilled in the art that implement the method for the above embodiments be can be with Relevant hardware is instructed to complete by program, which is stored in a storage medium, including some instructions are to make It obtains an equipment (can be single-chip microcontroller, chip etc.) or processor (processor) executes each embodiment the method for the application All or part of the steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey The medium of sequence code.
The embodiment of the invention discloses A1, a kind of method for determining position, which comprises
Obtain image information;
According to the first location information of described image acquisition of information;
At least one beacon message is received, the beacon message includes the mark of position label means;
The second location information is determined according to the beacon message;
First location information is modified according to second location information, determines self-position.
It is described to determine that the second location information includes: according to the beacon message in A2, method as described in a1
Position report information is determined according to the mark of the position label means and second identifier, and the second identifier is eventually End mark;
Send the position report information;
Receive second location information.
A3, as described in A2 in method, it is described that second location information is determined according to the beacon message further include:
In response to sending position report information failure or receiving the second location information failure, according to being stored in advance Cartographic information and the marks of the position label means determine second location information;
Wherein, the cartographic information includes the corresponding location information of mark of the position label means.
It is described to determine that the second location information includes: according to the beacon message in A4, method as described in a1
Extract the signal strength of the beacon message;
Position report information is determined according to the mark of the position label means, the signal strength and second identifier;
Send the position report information;
Receive second location information.
It is described that second location information is determined according to the beacon message in A5, the method as described in A4 further include:
In response to sending position report information failure or receiving the second location information failure, according to being stored in advance Cartographic information, the position label means mark and the signal strength determine second location information;
Wherein, the cartographic information includes the corresponding location information of mark of the position label means.
In A6, method as described in a5, the mark of the cartographic information according to the pre-stored data, the position label means Determine that second location information includes: with the signal strength
It is marked according to position described in the persistently variation tendency of the signal strength of received beacon message and the cartographic information The location information for determining device determines second location information.
It is described that first location information is repaired according to second location information in A7, method as described in a1 Just include:
The position can not be determined in response to first location information characterization, and institute is determined according to second location information Rheme is set.
In A8, method as described in a1, the encryption for being identified as the position label means of the position label means is special Reference number.
The embodiment of the invention also discloses B1, a kind of mobile robot, the robot includes:
Mobile system, for driving robot mobile;
Robot visual location system, for obtaining image information, and according to the first positioning system of image information acquisition;
Aided positioning system, for receiving at least one beacon message, the beacon message includes position label means Mark determines the second location information according to the beacon message, and is believed according to second location information first positioning Breath is modified.
The embodiment of the invention also discloses C1, a kind of determining device of position, described device includes:
Image acquisition unit, for obtaining image information;
First positioning acquiring unit, for according to the first location information of described image acquisition of information;
Calibration information receiving unit, for receiving at least one beacon message, the beacon message includes location position dress The mark set;
Second positioning acquiring unit, for determining the second location information according to the beacon message;
Position determination unit is determined for being modified according to second location information to first location information Self-position.
The embodiment of the invention also discloses D1, a kind of computer readable storage medium, store computer program instructions thereon, Wherein, the computer program instructions realize the method as described in any one of A1-A8 when being executed by processor.
The embodiment of the invention also discloses D1, a kind of electronic equipment, including memory and processor, wherein the storage Device is for storing one or more computer program instructions, wherein one or more computer program instructions are by the place Device is managed to execute to realize following steps:
Obtain image information;
According to the first location information of described image acquisition of information;
At least one beacon message is received, the beacon message includes the mark of position label means;
The second location information is determined according to the beacon message;
First location information is modified according to second location information, determines self-position.
D2, the electronic equipment according to claim D1, which is characterized in that described to determine according to the beacon message Two location informations include:
Position report information is determined according to the mark of the position label means and second identifier, and the second identifier is eventually End mark;
Send the position report information;
Receive second location information.
D3, the electronic equipment according to claim D2, which is characterized in that described to determine according to the beacon message Two location informations further include:
In response to sending position report information failure or receiving the second location information failure, according to being stored in advance Cartographic information and the marks of the position label means determine second location information;
Wherein, the cartographic information includes the corresponding location information of mark of the position label means.
D4, the electronic equipment according to claim D1, which is characterized in that described to determine according to the beacon message Two location informations include:
Extract the signal strength of the beacon message;
Position report information is determined according to the mark of the position label means, the signal strength and second identifier;
Send the position report information;
Receive second location information.
D5, the electronic equipment according to claim D4, which is characterized in that described to determine according to the beacon message Two location informations further include:
In response to sending position report information failure or receiving the second location information failure, according to being stored in advance Cartographic information, the position label means mark and the signal strength determine second location information;
Wherein, the cartographic information includes the corresponding location information of mark of the position label means.
D6, the electronic equipment according to claim D5, which is characterized in that the map letter according to the pre-stored data Breath, the mark of the position label means and the signal strength determine that second location information includes:
It is marked according to position described in the persistently variation tendency of the signal strength of received beacon message and the cartographic information The location information for determining device determines second location information.
D7, the electronic equipment according to claim D1, which is characterized in that described according to second location information pair First location information, which is modified, includes:
The position can not be determined in response to first location information characterization, and institute is determined according to second location information Rheme is set.
D8, the electronic equipment according to claim D1, which is characterized in that the position label means are identified as institute State the encrypted feature signal of position label means.
It will be understood by those skilled in the art that the respective embodiments described above are to realize specific embodiments of the present invention, And in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.

Claims (10)

1. a kind of method for determining position, which is characterized in that the described method includes:
Obtain image information;
According to the first location information of described image acquisition of information;
At least one beacon message is received, the beacon message includes the mark of position label means;
The second location information is determined according to the beacon message;
First location information is modified according to second location information, determines self-position.
2. method for determining position according to claim 1, which is characterized in that described to determine according to the beacon message Two location informations include:
Position report information is determined according to the mark of the position label means and second identifier, and the second identifier is terminal mark Know;
Send the position report information;
Receive second location information.
3. method for determining position according to claim 2, which is characterized in that described to determine according to the beacon message Two location informations further include:
In response to sending the position report information failure or receiving the second location information failure, according to the pre-stored dataly The mark of figure information and the position label means determines second location information;
Wherein, the cartographic information includes the corresponding location information of mark of the position label means.
4. method for determining position according to claim 1, which is characterized in that described to determine according to the beacon message Two location informations include:
Extract the signal strength of the beacon message;
Position report information is determined according to the mark of the position label means, the signal strength and second identifier;
Send the position report information;
Receive second location information.
5. method for determining position according to claim 4, which is characterized in that described to determine according to the beacon message Two location informations further include:
In response to sending the position report information failure or receiving the second location information failure, according to the pre-stored dataly Figure information, the mark of the position label means and the signal strength determine second location information;
Wherein, the cartographic information includes the corresponding location information of mark of the position label means.
6. method for determining position according to claim 5, which is characterized in that the map letter according to the pre-stored data Breath, the mark of the position label means and the signal strength determine that second location information includes:
It is filled according to location position described in the persistently variation tendency of the signal strength of received beacon message and the cartographic information The location information set determines second location information.
7. a kind of mobile robot, which is characterized in that the robot includes:
Mobile system, for driving robot mobile;
Robot visual location system, for obtaining image information, and according to the first positioning system of image information acquisition;
Aided positioning system, for receiving at least one beacon message, the beacon message includes the mark of position label means, The second location information is determined according to the beacon message, and first location information is carried out according to second location information Amendment.
8. a kind of determining device of position, which is characterized in that described device includes:
Image acquisition unit, for obtaining image information;
First positioning acquiring unit, for according to the first location information of described image acquisition of information;
Calibration information receiving unit, for receiving at least one beacon message, the beacon message includes position label means Mark;
Second positioning acquiring unit, for determining the second location information according to the beacon message;
Position determination unit determines itself for being modified according to second location information to first location information Position.
9. a kind of computer readable storage medium, stores computer program instructions thereon, which is characterized in that the computer program Such as method of any of claims 1-6 is realized in instruction when being executed by processor.
10. a kind of electronic equipment, including memory and processor, which is characterized in that the memory is for storing one or more Computer program instructions, wherein one or more computer program instructions are executed as follows to realize by the processor Step:
Obtain image information;
According to the first location information of described image acquisition of information;
At least one beacon message is received, the beacon message includes the mark of position label means;
The second location information is determined according to the beacon message;
First location information is modified according to second location information, determines self-position.
CN201811498024.9A 2018-12-07 2018-12-07 Method for determining position, mobile robot, storage medium and electronic equipment Pending CN109540127A (en)

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