CN111426325A - Positioning method and device, robot, storage medium and positioning system - Google Patents
Positioning method and device, robot, storage medium and positioning system Download PDFInfo
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- CN111426325A CN111426325A CN202010533656.5A CN202010533656A CN111426325A CN 111426325 A CN111426325 A CN 111426325A CN 202010533656 A CN202010533656 A CN 202010533656A CN 111426325 A CN111426325 A CN 111426325A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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Abstract
The application provides a positioning method and device, a robot, a storage medium and a positioning system, wherein an identification code is arranged at a preset position point of a target area, and is generated according to position information of the position point in a preset map of the target area, so that the position information of the position point is matched with the scale granularity of the map, and the identification code acquired by a mobile device is accurate position information in the target area. In addition, the target position is determined by receiving a signal sent by a signal transmitting device preset at the target position, so that the target position is accurate, and the mobile device can reach the accurate target position according to a navigation route from the starting position to the target position.
Description
Technical Field
The present application relates to the field of electronic information, and in particular, to a positioning method and apparatus, a robot, a storage medium, and a positioning system.
Background
With the rapid development of the service industry, the service mode is continuously upgraded, and at present, in many occasions, a robot is used for carrying out object delivery service for users. Not only can use manpower sparingly, can also promote user experience.
In the current indoor robot delivery scene, particularly in a dense scene, the distance between people is often smaller than the precision of a common indoor positioning technology (such as a GPS), for example, in a cinema, the distance between people is usually less than 1 meter, and the positioning precision of the GPS is about 5 meters.
Disclosure of Invention
The application provides a positioning method and device, a robot, a storage medium and a positioning system, and aims to solve the problem of how to realize accurate delivery service by using the robot.
In order to achieve the above object, the present application provides the following technical solutions:
a method of positioning, comprising:
the method comprises the steps that a mobile device obtains an identification code preset in a target area, wherein the identification code is arranged at a position point preset in the target area and at least comprises position information of the position point; the identification code is generated according to the position information of the position point in a preset map of the target area;
the mobile equipment acquires a depth image, wherein the depth image comprises the imaging of the position point;
the mobile equipment acquires a navigation route and moves to a target position according to the navigation route; the navigation route is a route from a starting position to the target position; the starting position is the position of the mobile equipment in the preset map, and the starting position is determined according to the identification code and the depth image; the target position is determined by receiving a signal sent by a signal transmitting device preset at the target position.
Optionally, the method for determining the target location by receiving a signal sent by a signal sending device preset at the target location includes:
the target position is determined by the identification of the target position carried in the signal and the corresponding relation between the identification of the target position and the position information in the preset map.
In the above method, optionally, the preset map of the target area is determined according to a depth camera of the mobile device, and/or according to internal structure position information of the target area acquired by the radio transmitting and receiving device.
In the above method, optionally, the identification code further includes position information of an associated position point, and the associated position point is collinear or coplanar with the position point where the identification code is located.
A positioning device applied to a mobile device comprises:
the device comprises a first acquisition unit, a second acquisition unit and a third acquisition unit, wherein the first acquisition unit is used for acquiring an identification code preset in a target area, the identification code is arranged at a position point preset in the target area, and the identification code at least comprises position information of the position point; the identification code is generated according to the position information of the position point in a preset map of the target area;
a second obtaining unit, configured to obtain a depth image, where the depth image includes an image of the position point;
the third acquisition unit is used for acquiring a navigation route and moving to a target position according to the navigation route; the navigation route is a route from a starting position to the target position; the starting position is the position of the mobile equipment in the preset map, and the starting position is determined according to the identification code and the depth image; the target position is determined by receiving a signal sent by a signal transmitting device preset at the target position.
Optionally, the apparatus described above, where the target location is determined by receiving a signal sent by a signal transmitting device preset at the target location, includes:
the target position is determined by the identification of the target position carried in the signal and the corresponding relation between the identification of the target position and the position information in the preset map.
Optionally, in the above apparatus, the preset map of the target area is determined according to a depth camera of the mobile device and/or internal structure position information of the target area collected by the radio transmitting and receiving device.
In the above device, optionally, the identification code further includes position information of an associated position point, and the associated position point is collinear or coplanar with the position point where the identification code is located.
A robot, comprising: a processor and a memory for storing a program; the processor is used for running the program to realize the positioning method.
A computer-readable storage medium having stored therein instructions which, when run on a computer, cause the computer to perform the above-described positioning method.
A positioning system, comprising:
a mobile device and a processing device;
the mobile equipment is used for acquiring an identification code preset in a target area and sending the identification code to the processing equipment; the identification code is arranged at a preset position point of the target area, and the identification code at least comprises position information of the position point; the identification code is generated according to the position information of the position point in a preset map of the target area; acquiring a depth image and sending the depth image to the processing equipment, wherein the depth image comprises the imaging of the position point;
the processing device is used for determining the starting position according to the received identification code and the depth image, determining a navigation route according to the starting position and the target position, and sending the navigation route to the mobile device; the navigation route is a route from a starting position to the target position; the starting position is the position of the mobile equipment in the preset map, and the target position is determined by receiving a signal sent by signal transmitting equipment preset at the target position;
the mobile device is further configured to receive the navigation route sent by the processing device, and move to a target location according to the navigation route.
In the above system, optionally, the moving device is a wheeled robot.
According to the method provided by the embodiment of the application, the identification code is arranged at the preset position point of the target area and is generated according to the position information of the position point in the preset map of the target area, so that the position information of the position point is matched with the scale granularity of the map, the identification code acquired by the mobile device is accurate position information in the target area, and meanwhile, the accurate position of the mobile device in the map of the target area can be obtained by combining the identification code and the depth image because the depth image acquired by the mobile device comprises the imaging of the position point.
In addition, the target position is determined by receiving a signal sent by a signal transmitting device preset at the target position, so that the target position is accurate, and the mobile device can reach the accurate target position according to a navigation route from the starting position to the target position.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a positioning method according to an embodiment of the present application;
fig. 2 is a flowchart of another positioning method provided in the embodiment of the present application;
fig. 3 is a schematic structural diagram of a positioning device according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a robot according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a positioning system according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a positioning method according to an embodiment of the present application, which is applicable to a scenario in which a mobile device is used to implement unmanned delivery, and includes the following steps:
s101, the mobile equipment acquires an identification code preset in a target area.
In this embodiment, after receiving the article sending instruction, the mobile device obtains an identification code preset in the target area, where the target area may be an indoor area, the identification code is preset at a plurality of location points of the target area, a depth camera is installed in the mobile device, and the mobile device scans the identification code in the target area through the depth camera to obtain the identification code. The identification code can be a two-dimensional code, a bar code and the like which can bear information. The identification code is generated according to position information of the position point in a preset map of the target area, the identification code includes position information of the position point, and the position information of the position point can be a three-dimensional coordinate of the position point. The specific implementation of obtaining the map of the target area according to the internal structure position information of the target area may refer to the prior art.
The identification code may also include location information, e.g., location coordinates, of the associated location point. The associated location point is collinear or coplanar with the location point at which the identification code is located. The location information of the associated location point can be used to accurately calculate the location information of the mobile device in a preset map of the target area.
In the case that the identification code is preset to only include the location information of the location point where the identification code is located, in order to improve the accuracy of calculating the location information of the mobile device in the preset map of the target area, the mobile device may be preconfigured to acquire a plurality of identification codes preset in the target area, and the specific number of the acquired identification codes may be configured in combination with requirements. In the case that the identification code is preset to include the location information of the associated location point, the mobile device may be configured in advance to acquire a single identification code preset in the target area, and of course, may also be configured to acquire a plurality of identification codes preset in the target area, and may be configured in combination with requirements.
S102, the mobile device acquires a depth image.
The mobile equipment obtains a depth image in the target area through the depth camera, and the geometric shape of the visible surface of the scenery in the target area and the distance between the mobile equipment and the visible surface of the scenery in the target area can be determined through the depth image. It should be noted that the mobile device obtains imaging of the position point including the identification code in the depth image, so that the relative distance between the mobile device and the position point including the identification code can be determined through the depth image.
S103, the mobile device obtains the navigation route and moves to the target position according to the navigation route.
The navigation route is a route from a starting position to a target position, and the starting position is the position of the mobile device in a preset map of a preset target area. The starting position is calculated according to the identification code acquired by the mobile equipment and the depth image. The target position is determined by receiving a signal sent by a signal sending device preset at the target position, specifically, by an identifier of the target position carried in the signal and a corresponding relationship between the identifier of the target position and position information in a preset map of the target area, where the identifier of the target position may be a three-dimensional coordinate of the target position, and the corresponding position information of the target position in the preset map may be determined according to the corresponding relationship between the three-dimensional coordinate of the target position and the position information in the preset map of the target area.
In the method provided by this embodiment, the identification code is set at a preset position point of the target area, and the identification code is generated according to position information of the position point in a preset map of the target area, so that the position information of the position point is matched with the scale granularity of the map, and therefore, information of the identification code acquired by the mobile device is accurate position information in the target area. In addition, the target position is determined by receiving a signal sent by a signal transmitting device preset at the target position, so that the target position is accurate, and the mobile device can reach the accurate target position according to a navigation route from the starting position to the target position.
In practice, in order to reduce the workload of the mobile device and increase the response delay, the steps that can process the calculation are configured to be performed in the background processing device, and the mobile device is only responsible for on-site target acquisition and mobile delivery.
Fig. 2 is a further positioning method provided in an embodiment of the present application, which may include the following steps:
s201, the processing device determines the target position according to the received signal sent by the signal transmitting device preset at the target position.
In this embodiment, the signal transmitting device is preset in the target area, the signal transmitting device stores therein position information of a target position where the signal transmitting device is located, the signal transmitting device is preset to send a signal to the processing device in response to a commodity ordering operation triggered by a user through the signal transmitting device, the signal at least carries an identifier of the target position, and the identifier of the target position may be a three-dimensional coordinate of the target position. The processing device can determine the corresponding position information of the target position in the preset map through the corresponding relation between the three-dimensional coordinates of the target position and the position information in the preset map of the target area.
S202, the processing device sends an article sending instruction to the mobile device.
In this embodiment, a plurality of or a single mobile device for delivering an object may be preset in the target area, the mobile device establishes a communication connection with the processing device in advance, the processing device may select to send an object delivery instruction to one of the mobile devices when the processing device simultaneously establishes a connection with the plurality of mobile devices, and if the processing device only establishes a connection with a single mobile device, the processing device may send the object delivery instruction to the single mobile device.
And S203, after the mobile device receives the object sending instruction, acquiring a preset identification code and a depth image in the target area, and sending the identification code and the depth image to the processing device.
The specific implementation in this step may be S101 and S102 of the above embodiments, and details are not described here.
S204, the processing device determines the initial position of the mobile device according to the received identification code and the depth image.
Because the identification code at least comprises the position information of the position point where the identification code is located, and the depth image comprises the image of the position point where the identification code is located, the relative distance between the mobile device and the position point where the identification code is located can be determined through the depth image, so that the starting position of the mobile device can be calculated according to the relative distance between the mobile device and the position point where the identification code is located and the position information of the position where the identification code is located. For a more detailed implementation of this step, reference may be made to the prior art.
S205, the processing device determines a navigation route of the mobile device according to the starting position and the target position, and sends the navigation route to the mobile device.
The navigation route is a planned route from the starting position to the target position, and the processing device can generate the planned route from the starting position to the target position according to the position information of the starting position and the target position on a preset map of the target area and by combining the preset map of the target area.
S206, the mobile device moves to the target position according to the received navigation route.
And after receiving the navigation route, the mobile equipment moves to the target position according to the navigation route.
According to the method provided by the embodiment of the application, the identification code is arranged at the preset position point of the target area and is generated according to the position information of the position point in the preset map of the target area, so that the position information of the position point is matched with the scale granularity of the map, the information of the identification code acquired by the mobile equipment is accurate position information in the target area, and meanwhile, the accurate position of the mobile equipment in the map of the target area can be obtained by combining the identification code and the depth image because the depth image acquired by the mobile equipment comprises the imaging of the position point. In addition, the target position is determined by receiving a signal sent by a signal transmitting device preset at the target position, so that the target position is accurate, and the mobile device can reach the accurate target position according to a navigation route from the starting position to the target position.
It should be noted that, in the above embodiments, the functions of the processing device may be integrated into the mobile device, so that the mobile device may accurately reach the target location without exchanging information with the processing device.
The method described above is exemplified below with the example of a person-intensive scene, such as a movie theater:
in order to improve the film watching experience of film watching personnel, a plurality of cinemas adopt robots to provide film watching personnel with delivery service, but due to insufficient positioning precision, the robots can only be accurate to each row of seats, and cannot be accurate to the film watching seats where the film watching personnel are located, so that the purpose of accurately delivering articles to the film watching personnel cannot be realized.
To solve the above-mentioned problems, the present application arranges in advance a positioning member in a movie theater, including: the movie theater comprises two-dimensional codes (the two-dimensional codes comprise position information of position points) preset at each position point of the movie theater, a signal transmitter arranged on a movie watching seat, a wheeled robot in standby outside the theater, and a background processor. Through each positioning part, the purpose of accurately delivering objects for a film viewer is realized, and the method specifically comprises the following steps:
(1) and the signal transmitter on the film watching seat responds to the object conveying service operation of the film watching personnel and sends a signal to the background processor. The signal carries the position information of the position of the film watching seat.
(2) And the background processor sends a signal to the background processor according to the received signal transmitter, determines the target position and sends an article sending instruction to one wheeled robot in an idle state. The target position is the position of the viewing seat.
(3) And after receiving the object sending instruction, the wheeled robot collects the two-dimensional code and the depth image preset in the cinema through the depth camera and sends the two-dimensional code and the depth image to the processor.
(4) And the processor determines the initial position of the wheeled robot in the movie theater according to the received two-dimensional code and the depth image, determines the navigation route of the wheeled robot according to the initial position and the target position, and sends the navigation route to the wheeled robot.
(5) And after receiving the navigation route, the wheeled robot moves to the target position.
Through the scheme that this application provided, the two-dimensional code sets up in each predetermined position point of cinema, and the position information of two-dimensional code in the map of presetting in cinema according to the position point generates, so the position information of position point and the scale granularity of map are matchd, so the two-dimensional code that wheeled robot acquireed is accurate position information in the purpose cinema, simultaneously, because including the formation of image of position point in the depth map, so combine two-dimensional code and depth map can obtain the accurate position of mobile device in the map of target area. In addition, the target position is determined by receiving a signal sent by a signal transmitting device preset on the film watching seat, so that the target position is accurate, the wheeled robot can reach the accurate film watching seat according to a navigation route from the starting position to the target position, and articles can be accurately sent to film watching personnel.
The present application further provides a positioning apparatus 300 applied to a mobile device, whose schematic structural diagram is shown in fig. 3, including:
a first obtaining unit 301, configured to obtain an identification code preset in a target area, where the identification code is arranged at a preset location point of the target area, and the identification code at least includes location information of the location point; the identification code is generated according to the position information of the position point in a preset map of the target area;
a second obtaining unit 302, configured to obtain a depth image, where the depth image includes an image of a location point;
a third obtaining unit 303, configured to obtain a navigation route, and move to a target position according to the navigation route; the navigation route is a route from the starting position to the target position; the starting position is the position of the mobile equipment in a preset map, and the starting position is determined according to the identification code and the depth image; the target position is determined by receiving a signal transmitted by a signal transmitting device preset at the target position.
Optionally, the determining the target location by receiving a signal sent by a signal transmitting device preset at the target location includes: the target position is determined by the identification of the target position carried in the signal and the corresponding relation between the identification of the target position and the position information in the preset map.
Optionally, the preset map of the target area is determined according to a depth camera of the mobile device and/or internal structure position information of the target area collected by the radio transmitting and receiving device.
Optionally, the information of the identification code further includes position information of an associated position point, and the associated position point is collinear or coplanar with the position point where the identification code is located.
The device that this application embodiment provided, the identification code sets up in the regional preset position point of target, the identification code is according to the position information generation of position point in the regional preset map of target, so the position information of position point and the scale granularity of map are matchd, so the information of the identification code that the mobile device acquireed is accurate position information in the target area, simultaneously, because the degree of depth image that the mobile device acquireed includes the formation of image of position point, so combine identification code and degree of depth image can obtain the accurate position of mobile device in the regional map of target. In addition, the target position is determined by receiving a signal sent by a signal transmitting device preset at the target position, so that the target position is accurate, and the mobile device can reach the accurate target position according to a navigation route from the starting position to the target position.
The present application further provides a robot 400, the schematic structural diagram of which is shown in fig. 4, including: a processor 401 and a memory 402, the memory 402 being for storing programs; the processor 401 is configured to run a program to implement the positioning method provided in the present application.
The present application also provides a computer-readable storage medium having stored therein instructions, which when run on a computer, cause the computer to execute to implement the positioning method provided herein.
The present application further provides a positioning system 500, a schematic structural diagram of which is shown in fig. 5, including: a mobile device 501 and a processing device 502.
The mobile device 501 is configured to acquire an identification code preset in the target area, and send the identification code to the processing device 502; the identification code is arranged at a preset position point of the target area and at least comprises position information of the position point; the identification code is generated according to the position information of the position point in a preset map of the target area;
acquiring a depth image and sending the depth image to the processing device 502, wherein the depth image comprises an image of a position point;
the processing device 502 is configured to determine an initial position according to the received identification code and the depth image, determine a navigation route according to the initial position and the target position, and send the navigation route to the mobile device 501; the navigation route is a route from the starting position to the target position; the starting position is the position of the mobile device 501 in the preset map, and the target position is determined by receiving a signal sent by a signal transmitting device preset at the target position.
The mobile device 501 is further configured to receive the navigation route sent by the processing device 502 and move to the target location according to the navigation route.
Optionally, the mobile device 501 in the present system includes but is not limited to a wheeled robot, for example, it may also be a delivery drone.
The system that this application embodiment provided, the identification code sets up in the regional preset position point of target, the identification code is according to the position information generation of position point in the regional preset map of target, so the position information of position point and the scale granularity of map are matchd, so the information of the identification code that the mobile device acquireed is accurate position information in the target region, simultaneously, because the degree of depth image that the mobile device acquireed includes the formation of image of position point, so combine identification code and degree of depth image can obtain the accurate position of mobile device in the regional map of target. In addition, the target position is determined by receiving a signal sent by a signal transmitting device preset at the target position, so that the target position is accurate, and the mobile device can reach the accurate target position according to a navigation route from the starting position to the target position.
The functions described in the method of the embodiment of the present application, if implemented in the form of software functional units and sold or used as independent products, may be stored in a storage medium readable by a computing device. Based on such understanding, part of the contribution to the prior art of the embodiments of the present application or part of the technical solution may be embodied in the form of a software product stored in a storage medium and including several instructions for causing a computing device (which may be a personal computer, a server, a mobile computing device or a network device) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (12)
1. A method of positioning, comprising:
the method comprises the steps that a mobile device obtains an identification code preset in a target area, wherein the identification code is arranged at a position point preset in the target area and at least comprises position information of the position point; the identification code is generated according to the position information of the position point in a preset map of the target area;
the mobile equipment acquires a depth image, wherein the depth image comprises the imaging of the position point;
the mobile equipment acquires a navigation route and moves to a target position according to the navigation route; the navigation route is a route from a starting position to the target position; the starting position is the position of the mobile equipment in the preset map, and the starting position is determined according to the identification code and the depth image; the target position is determined by receiving a signal sent by a signal transmitting device preset at the target position.
2. The method according to claim 1, wherein the target location is determined by receiving a signal transmitted from a signal transmitting device preset at the target location, and the method comprises the following steps:
the target position is determined by the identification of the target position carried in the signal and the corresponding relation between the identification of the target position and the position information in the preset map.
3. The method according to claim 1, wherein the preset map of the target area is determined by a depth camera of the mobile device and/or a radio transceiver device collecting internal structure position information of the target area.
4. The method of claim 1, wherein the identification code further comprises location information of an associated location point that is collinear or coplanar with the location point at which the identification code is located.
5. A positioning device applied to a mobile device, comprising:
the device comprises a first acquisition unit, a second acquisition unit and a third acquisition unit, wherein the first acquisition unit is used for acquiring an identification code preset in a target area, the identification code is arranged at a position point preset in the target area, and the identification code at least comprises position information of the position point; the identification code is generated according to the position information of the position point in a preset map of the target area;
a second obtaining unit, configured to obtain a depth image, where the depth image includes an image of the position point;
the third acquisition unit is used for acquiring a navigation route and moving to a target position according to the navigation route; the navigation route is a route from a starting position to the target position; the starting position is the position of the mobile equipment in the preset map, and the starting position is determined according to the identification code and the depth image; the target position is determined by receiving a signal sent by a signal transmitting device preset at the target position.
6. The apparatus of claim 5, wherein the target location is determined by receiving a signal transmitted from a signal transmitting device preset at the target location, and the method comprises:
the target position is determined by the identification of the target position carried in the signal and the corresponding relation between the identification of the target position and the position information in the preset map.
7. The apparatus of claim 5, wherein the preset map of the target area is determined according to a depth camera of the mobile device and/or internal structure position information of the target area collected by a radio transmitting and receiving device.
8. The apparatus of claim 5, wherein the identification code further comprises location information of an associated location point that is collinear or coplanar with the location point at which the identification code is located.
9. A robot, comprising: a processor and a memory for storing a program; the processor is configured to execute the program to implement the positioning method according to any one of claims 1 to 4.
10. A computer-readable storage medium having stored therein instructions which, when run on a computer, cause the computer to perform the positioning method of any one of claims 1-4.
11. A positioning system, comprising:
a mobile device and a processing device;
the mobile equipment is used for acquiring an identification code preset in a target area and sending the identification code to the processing equipment; the identification code is arranged at a preset position point of the target area, and the identification code at least comprises position information of the position point; the identification code is generated according to the position information of the position point in a preset map of the target area; acquiring a depth image and sending the depth image to the processing equipment, wherein the depth image comprises the imaging of the position point;
the processing device is used for determining the starting position according to the received identification code and the depth image, determining a navigation route according to the starting position and the target position, and sending the navigation route to the mobile device; the navigation route is a route from a starting position to the target position; the starting position is the position of the mobile equipment in the preset map, and the target position is determined by receiving a signal sent by signal transmitting equipment preset at the target position;
the mobile device is further configured to receive the navigation route sent by the processing device, and move to a target location according to the navigation route.
12. The system of claim 11, wherein the mobile device is a wheeled robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010533656.5A CN111426325B (en) | 2020-06-12 | 2020-06-12 | Positioning method and device, robot, storage medium and positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010533656.5A CN111426325B (en) | 2020-06-12 | 2020-06-12 | Positioning method and device, robot, storage medium and positioning system |
Publications (2)
| Publication Number | Publication Date |
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| CN111426325A true CN111426325A (en) | 2020-07-17 |
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