CN111765888A

CN111765888A - Device positioning method and device, electronic device and readable storage medium

Info

Publication number: CN111765888A
Application number: CN201910258344.5A
Authority: CN
Inventors: 崔乐; 陈一鸣; 李名杨; 张明明; 洪东升; 邓成呈; 朱棣; 李�根; 刘伟
Original assignee: Alibaba Group Holding Ltd
Current assignee: Alibaba Group Holding Ltd
Priority date: 2019-04-01
Filing date: 2019-04-01
Publication date: 2020-10-13

Abstract

The embodiment of the disclosure discloses a device positioning method, a device, an electronic device and a readable storage medium, wherein the method comprises the following steps: determining whether the current positioning information of the equipment is effective according to at least one piece of positioning evaluation information used for determining the effectiveness of the positioning information; according to the fact that the current positioning information of the equipment is determined to be invalid, the equipment is repositioned in at least one positioning mode, when the equipment is positioned under the condition that the environment changes or the equipment is surrounded by people, whether the equipment is positioned effectively is judged according to the evaluation result in at least one piece of positioning evaluation information, and therefore the equipment is repositioned when the equipment is judged to be invalid. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

Description

Device positioning method and device, electronic device and readable storage medium

Technical Field

The present disclosure relates to the field of computer technologies, and in particular, to a device positioning method and apparatus, an electronic device, and a readable storage medium.

Background

Devices with automatic movement functions, such as sweeping robots, unmanned delivery vehicles, unmanned automobiles, unmanned aerial vehicles, and the like, have become increasingly common in the present society. For example, with the development of new retail concepts, mobile robots with logistics functions are increasingly used in various business scenarios, becoming an important link for people, goods and places.

At present, more commercial scenes, such as complex indoor environments of restaurants, shopping malls and the like, have the characteristics of more people, fast scene change, unpredictability and the like, and the self-mobile equipment is expected to be introduced to solve the problem of end delivery. In different service scenarios, the self-mobile device needs to be started at different positions to complete a service flow. When the self-moving device is actually used, the problem of how to recover the positioning after the self-moving device makes the positioning invalid under the condition that the environment is changed or the self-moving device is enclosed by people exists.

Disclosure of Invention

In order to solve the problems in the related art, embodiments of the present disclosure provide a device positioning method and apparatus, an electronic device, and a readable storage medium.

In a first aspect, an embodiment of the present disclosure provides an apparatus positioning method, including:

determining whether the current positioning information of the equipment is effective according to at least one piece of positioning evaluation information used for determining the effectiveness of the positioning information;

and according to the fact that the current positioning information of the equipment is determined to be invalid, the equipment is repositioned by utilizing at least one positioning mode.

With reference to the first aspect, in a first implementation manner of the first aspect, the determining whether current location information of a device is valid according to at least one piece of location evaluation information for determining validity of the location information includes:

and determining whether the current positioning information of the equipment is effective or not according to an evaluation result of whether the current positioning information of the equipment meets a specific preset positioning condition or not in at least one piece of positioning evaluation information.

With reference to the first aspect or the first implementation manner of the first aspect, the present disclosure provides in a second implementation manner of the first aspect, that the at least one positioning evaluation information includes laser matching evaluation information, speed detection evaluation information, map matching evaluation information, historical positioning evaluation information, and visual loop detection evaluation information.

With reference to the first aspect or the first implementation manner of the first aspect, in a third implementation manner of the first aspect, the repositioning the device by using at least one positioning manner according to a determination that current positioning information of the device is invalid includes:

and according to the fact that the current positioning information of the equipment is determined to be invalid, repositioning the equipment by utilizing a visual matching positioning mode and a laser matching positioning mode.

With reference to the third implementation manner of the first aspect, in a fourth implementation manner of the first aspect, the repositioning the device by using a visual matching positioning manner and a laser matching positioning manner according to the determination that the current positioning information of the device is invalid includes:

according to the fact that the current positioning information of the equipment is determined to be invalid, the collected visual features are matched with a preset visual map to determine first positioning information of the equipment;

and at the position corresponding to the first positioning information, repositioning the equipment by utilizing the laser positioning information to match with a preset laser map.

With reference to the first aspect or the first implementation manner of the first aspect, in a fifth implementation manner of the first aspect, the repositioning the device by using at least one positioning manner according to a determination that current positioning information of the device is invalid includes:

receiving external positioning information of the equipment according to the fact that the current positioning information of the equipment is determined to be invalid;

optimizing external positioning information of the device using at least one positioning mode to reposition the device.

With reference to the first aspect, in a sixth implementation manner of the first aspect, the present disclosure further includes:

and positioning the equipment by utilizing at least one positioning mode to acquire initial positioning information of the equipment as the current positioning information.

With reference to the sixth implementation manner of the first aspect, in a seventh implementation manner of the first aspect, the locating the device by using at least one positioning manner to obtain initial positioning information of the device as the current positioning information includes:

matching the collected visual features with a preset visual map to determine second positioning information of the equipment;

and positioning the equipment by utilizing the laser positioning information to be matched with a preset laser map at the position corresponding to the second positioning information so as to determine the initial positioning information of the equipment.

With reference to the seventh implementation manner of the first aspect, in an eighth implementation manner of the first aspect, the locating the device by using at least one positioning manner to obtain initial positioning information of the device as the current positioning information includes:

and according to the visual positioning feature which cannot be acquired, instructing the equipment to move by using a local laser map generated according to the laser positioning information of the equipment until the visual positioning feature is acquired.

With reference to the first aspect, the present disclosure, in a ninth implementation manner of the first aspect, further includes:

and navigating the equipment by using the current positioning information according to the fact that the current positioning information of the equipment is effective.

In a second aspect, an embodiment of the present disclosure provides an apparatus positioning device, including:

a determination module configured to determine whether current location information of the device is valid according to at least one location evaluation information for determining validity of the location information;

and the repositioning module is configured to reposition the equipment by utilizing at least one positioning mode according to the fact that the current positioning information of the equipment is determined to be invalid by the determining module.

With reference to the second aspect, in a first implementation manner of the second aspect, the determining module is further configured to:

With reference to the second aspect or the first implementation manner of the second aspect, in a second implementation manner of the second aspect, the disclosure provides that the at least one positioning evaluation information includes laser matching evaluation information, speed detection evaluation information, map matching evaluation information, historical positioning evaluation information, and visual loop detection evaluation information.

With reference to the second aspect or the first implementation manner of the second aspect, in a third implementation manner of the second aspect, the repositioning module is further configured to:

and determining that the current positioning information of the equipment is invalid according to the determination module, and repositioning the equipment by using a visual matching positioning mode and a laser matching positioning mode.

With reference to the third implementation manner of the second aspect, in a fourth implementation manner of the second aspect, the repositioning module includes:

the first visual matching sub-module is configured to determine that the current positioning information of the equipment is invalid according to the determination module, and determine first positioning information of the equipment by matching the acquired visual features with a preset visual map;

a first laser matching sub-module configured to reposition the device by matching with a preset laser map using the laser positioning information at a position corresponding to the first positioning information.

With reference to the second aspect or the first implementation manner of the second aspect, in a fifth implementation manner of the second aspect, the repositioning module includes:

a receiving submodule configured to receive external positioning information of the device according to the determination module determining that the current positioning information of the device is invalid;

a second relocation submodule configured to optimize external location information of the device using at least one location mode to relocate the device.

With reference to the second aspect, in a sixth implementation manner of the second aspect, the present disclosure further includes:

an initial positioning module configured to position the device by using at least one positioning manner to obtain initial positioning information of the device as the current positioning information.

With reference to the sixth implementation manner of the second aspect, in a seventh implementation manner of the second aspect, the initial positioning module includes:

a second visual matching sub-module configured to determine second positioning information of the device by matching the collected visual features with a preset visual map;

a second laser matching sub-module configured to locate the device by matching laser location information with a preset laser map at a position corresponding to the second location information to determine initial location information of the device.

With reference to the seventh implementation manner of the second aspect, in an eighth implementation manner of the second aspect, the initial positioning module is further configured to:

With reference to the second aspect, in a ninth implementation manner of the second aspect, the present disclosure further includes:

a navigation module configured to navigate the device using the current location information according to the determination module determining that the current location information of the device is valid.

In a third aspect, an embodiment of the present disclosure provides an apparatus positioning method, including:

With reference to the third aspect, in a first implementation manner of the third aspect, the present disclosure further includes:

With reference to the first implementation manner of the third aspect, in a second implementation manner of the third aspect, the locating the device by using at least one positioning manner to obtain initial positioning information of the device as the current positioning information includes:

With reference to the second implementation manner of the third aspect, in a third implementation manner of the third aspect, the locating the device by using at least one positioning manner to obtain initial positioning information of the device as the current positioning information includes:

With reference to the third aspect, in a fourth implementation manner of the third aspect, the present disclosure further includes:

In a fourth aspect, an embodiment of the present disclosure provides an apparatus positioning device, including:

a first determination module configured to determine whether current location information of a device is valid according to at least one location evaluation information for determining validity of the location information;

a second determination module configured to determine the first positioning information of the device by matching the collected visual features with a preset visual map according to the fact that the first determination module determines that the current positioning information of the device is invalid;

a repositioning module configured to reposition the device by matching laser positioning information with a preset laser map at a location corresponding to the first positioning information.

In a fifth aspect, an embodiment of the present disclosure provides an apparatus navigation method, including:

In a sixth aspect, an embodiment of the present disclosure provides a data processing method, including:

acquiring first positioning information of equipment;

determining that the first positioning information meets a preset condition;

and repositioning the equipment by using a visual matching positioning mode and a laser matching positioning mode.

With reference to the sixth aspect, the present disclosure provides in a first implementation manner of the sixth aspect, the first positioning information includes one or more of the following combinations:

laser matching evaluation information, speed detection evaluation information, map matching evaluation information, historical positioning evaluation information and visual loop detection evaluation information.

With reference to the sixth aspect, in a second implementation manner of the sixth aspect, the present disclosure provides a method for repositioning the device by using a visual matching positioning manner and a laser matching positioning manner, where the method includes:

matching the acquired visual features with a preset visual map to acquire second positioning information of the equipment;

and at the position corresponding to the second positioning information, repositioning the equipment by utilizing the laser positioning information to match with a preset laser map.

In a seventh aspect, an embodiment of the present disclosure provides an electronic device, including a memory and a processor; wherein,

the memory is configured to store one or more computer instructions, where the one or more computer instructions are executed by the processor to implement the method as described in any one of the first aspect, the first implementation to the ninth implementation of the first aspect, the third aspect, the first implementation to the fourth implementation of the third aspect, the fifth aspect, the sixth aspect, the first implementation of the sixth aspect, and the second implementation.

In an eighth aspect, an embodiment of the present disclosure provides a readable storage medium, on which computer instructions are stored, which when executed by a processor implement the method according to any one of the first aspect, the first implementation manner to the ninth implementation manner of the first aspect, the third aspect, the first implementation manner to the fourth implementation manner of the third aspect, the fifth aspect, the sixth aspect, the first implementation manner of the sixth aspect, and the second implementation manner.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

according to the technical scheme provided by the embodiment of the disclosure, whether the current positioning information of the equipment is effective is determined according to at least one piece of positioning evaluation information used for determining the effectiveness of the positioning information; according to the fact that the current positioning information of the equipment is determined to be invalid, the equipment is repositioned in at least one positioning mode, when the equipment is positioned under the condition that the environment changes or the equipment is surrounded by people, whether the equipment is positioned effectively is judged according to the evaluation result in at least one piece of positioning evaluation information, and therefore the equipment is repositioned when the equipment is judged to be invalid. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

According to the technical scheme provided by the embodiment of the present disclosure, determining whether the current positioning information of the device is valid according to the at least one piece of positioning evaluation information for determining the validity of the positioning information includes: and determining whether the current positioning information of the equipment is valid according to an evaluation result of whether the current positioning information of the equipment in the at least one piece of positioning evaluation information meets a specific preset positioning condition, and judging whether the equipment is valid or not according to the evaluation result in the at least one piece of positioning evaluation information when the equipment is positioned under the condition of environmental change or being surrounded by people, so that the equipment is repositioned when the equipment is judged to be invalid. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

According to the technical scheme provided by the embodiment of the disclosure, the at least one positioning evaluation information comprises laser matching evaluation information, speed detection evaluation information, map matching evaluation information, historical positioning evaluation information and visual loop detection evaluation information, so that when the equipment is positioned under the condition of environmental change or being surrounded by people, whether the equipment is positioned effectively can be judged according to the evaluation result in the at least one positioning evaluation information, and therefore, when the equipment is judged to be positioned inefficiently, the equipment is repositioned. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

According to the technical scheme provided by the embodiment of the disclosure, the relocation of the device by using at least one location mode according to the fact that the current location information of the device is determined to be invalid comprises the following steps: according to the fact that the current positioning information of the equipment is determined to be invalid, the equipment is repositioned by means of the visual matching positioning mode and the laser matching positioning mode, when the equipment is positioned under the condition that the environment changes or the equipment is surrounded by people, whether the equipment is positioned effectively or not can be judged according to the evaluation result in at least one piece of positioning evaluation information, and therefore the equipment is repositioned when the equipment is judged to be invalid. And moreover, the visual positioning mode and the laser positioning mode are combined together, the advantages of stable visual positioning mode, accurate laser positioning mode and high calculation speed are utilized, and the effectiveness and the accuracy of repositioning are ensured. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment under the condition of ensuring the positioning accuracy and the positioning speed, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

According to the technical scheme provided by the embodiment of the present disclosure, repositioning the device by using a visual matching positioning mode and a laser matching positioning mode according to the fact that the current positioning information of the device is determined to be invalid comprises: according to the fact that the current positioning information of the equipment is determined to be invalid, the collected visual features are matched with a preset visual map to determine first positioning information of the equipment; and at the position corresponding to the first positioning information, the equipment is repositioned by matching the laser positioning information with a preset laser map, and when the equipment is positioned under the condition of environmental change or being surrounded by people, whether the equipment is positioned effectively is judged according to the evaluation result in at least one piece of positioning evaluation information, so that the equipment is repositioned when the equipment is judged to be positioned inefficiently. And moreover, the visual positioning mode and the laser positioning mode are combined together, the advantages of stable visual positioning mode, accurate laser positioning mode and high calculation speed are utilized, and the effectiveness and the accuracy of repositioning are ensured. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment under the condition of ensuring the positioning accuracy and the positioning speed, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

According to the technical scheme provided by the embodiment of the disclosure, the relocation of the device by using at least one location mode according to the fact that the current location information of the device is determined to be invalid comprises the following steps: receiving external positioning information of the equipment according to the fact that the current positioning information of the equipment is determined to be invalid; the method comprises the steps of optimizing external positioning information of the equipment by utilizing at least one positioning mode to reposition the equipment, judging whether equipment positioning is effective or not according to an evaluation result in at least one positioning evaluation information when the equipment is positioned under the condition of environmental change or being surrounded by people, and repositioning when the equipment positioning is judged to be ineffective. Also, the speed of relocation is ensured by performing relocation by optimizing for location information obtained from the outside. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the device under the condition of ensuring the positioning speed of the positioning, so that the device can be applied in a service scene for a long time without being interrupted by various external interferences.

According to the technical scheme provided by the embodiment of the disclosure, the equipment is positioned by utilizing at least one positioning mode to obtain the initial positioning information of the equipment as the current positioning information, so that the equipment can realize quick positioning by utilizing at least one positioning mode, and the problem that the equipment needs to be positioned when being started at any position is effectively solved. Meanwhile, when the equipment has a fault and needs to be restarted, the equipment can be quickly positioned after being restarted, so that manual intervention is avoided. Moreover, when the device is positioned under the condition of environmental change or being surrounded by people, whether the device positioning is effective or not can be judged according to the evaluation result in at least one piece of positioning evaluation information, so that the device positioning can be repositioned when the device positioning is judged to be ineffective. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

According to the technical solution provided by the embodiment of the present disclosure, the positioning the device by using at least one positioning method to obtain initial positioning information of the device as the current positioning information includes: matching the collected visual features with a preset visual map to determine second positioning information of the equipment; and at the position corresponding to the second positioning information, positioning the equipment by matching the laser positioning information with a preset laser map so as to determine the initial positioning information of the equipment, so that the equipment can realize quick positioning by using a visual positioning mode and a laser positioning mode, and the problem that the equipment needs to be positioned when being started at any position is effectively solved. And moreover, the visual positioning mode and the laser positioning mode are combined together, the advantages of stable visual positioning mode, accurate laser positioning mode and high calculation speed are utilized, and the effectiveness and the accuracy of initial positioning are ensured. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment under the condition of ensuring the positioning accuracy and the positioning speed, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

According to the technical solution provided by the embodiment of the present disclosure, the positioning the device by using at least one positioning method to obtain initial positioning information of the device as the current positioning information includes: according to the fact that the visual positioning feature cannot be acquired, the equipment is instructed to move by using the local laser map generated according to the laser positioning information of the equipment until the visual positioning feature is acquired, so that the equipment can autonomously move in a small range with obstacle avoidance according to the local laser map generated according to the surrounding laser positioning information, rapid positioning is achieved by using the visual positioning information, and the problem that the equipment needs to be positioned when being started at any position is effectively solved. And moreover, the visual positioning mode and the laser positioning mode are combined together, the advantages of stable visual positioning mode, accurate laser positioning mode and high calculation speed are utilized, and the effectiveness and the accuracy of initial positioning are ensured. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment under the condition of ensuring the positioning accuracy and the positioning speed, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

According to the technical scheme provided by the embodiment of the disclosure, the current positioning information of the equipment is determined to be effective, and the equipment is navigated by using the current positioning information, so that whether the equipment is positioned effectively or not can be judged according to the evaluation result in at least one piece of positioning evaluation information when the equipment is positioned under various conditions, and the equipment is navigated when the equipment is judged to be positioned effectively. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

According to the technical scheme provided by the embodiment of the disclosure, whether the current positioning information of the equipment is effective is determined according to at least one piece of positioning evaluation information used for determining the effectiveness of the positioning information; according to the fact that the current positioning information of the equipment is determined to be invalid, the collected visual features are matched with a preset visual map to determine first positioning information of the equipment; and at the position corresponding to the first positioning information, the equipment is repositioned by matching the laser positioning information with a preset laser map, and when the equipment is positioned under the condition of environmental change or being surrounded by people, whether the equipment is positioned effectively is judged according to the evaluation result in at least one piece of positioning evaluation information, so that the equipment is repositioned when the equipment is judged to be positioned inefficiently. And moreover, the visual positioning mode and the laser positioning mode are combined together, the advantages of stable visual positioning mode, accurate laser positioning mode and high calculation speed are utilized, and the effectiveness and the accuracy of repositioning are ensured. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment under the condition of ensuring the positioning accuracy and the positioning speed, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

According to the technical scheme provided by the embodiment of the disclosure, the external positioning information of the equipment is received by determining that the current positioning information of the equipment is invalid; the method comprises the steps of optimizing external positioning information of the equipment by utilizing at least one positioning mode to reposition the equipment, judging whether equipment positioning is effective or not according to an evaluation result in at least one positioning evaluation information when the equipment is positioned under the condition of environmental change or being surrounded by people, and repositioning when the equipment positioning is judged to be ineffective. Also, the speed of relocation is ensured by performing relocation by optimizing for location information obtained from the outside. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the device under the condition of ensuring the positioning speed of the positioning, so that the device can be applied in a service scene for a long time without being interrupted by various external interferences.

According to the technical scheme provided by the embodiment of the disclosure, whether the current positioning information of the equipment is effective is determined according to at least one piece of positioning evaluation information used for determining the effectiveness of the positioning information; and according to the fact that the current positioning information of the equipment is determined to be effective, the equipment is navigated by using the current positioning information, and whether the equipment is positioned effectively or not can be judged according to the evaluation result in at least one piece of positioning evaluation information when the equipment is positioned under various conditions, so that the equipment is navigated when the equipment is judged to be positioned effectively. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

According to the technical scheme provided by the embodiment of the disclosure, first positioning information of equipment is acquired; determining that the first positioning information meets a preset condition; the equipment is repositioned by utilizing the visual matching positioning mode and the laser matching positioning mode, and when the equipment is positioned under the condition of environmental change or being surrounded by people, the equipment can be repositioned by determining that the first positioning information meets the preset condition and utilizing the visual matching positioning mode and the laser matching positioning mode. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

According to the technical scheme provided by the embodiment of the disclosure, the first positioning information comprises one or more of the following combinations: the device comprises laser matching evaluation information, speed detection evaluation information, map matching evaluation information, historical positioning evaluation information and visual loop detection evaluation information, and when the device is positioned under the condition of environmental change or being surrounded by people, the device can be repositioned by determining that the first positioning information meets the preset condition and utilizing a visual matching positioning mode and a laser matching positioning mode. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

According to the technical scheme provided by the embodiment of the disclosure, the equipment is repositioned by utilizing a visual matching positioning mode and a laser matching positioning mode, and the method comprises the following steps: matching the acquired visual features with a preset visual map to acquire second positioning information of the equipment; and at the position corresponding to the second positioning information, the equipment is repositioned by matching the laser positioning information with a preset laser map, and when the equipment is positioned under the condition of environmental change or being surrounded by people, the equipment is repositioned by determining that the first positioning information meets the preset condition and using a visual matching positioning mode and a laser matching positioning mode. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

Other labels, objects and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments when taken in conjunction with the accompanying drawings. In the drawings:

FIG. 1 shows a flow diagram of a device location method according to an embodiment of the present disclosure;

fig. 2 shows a flowchart of one example of step S120 in a device location method according to an embodiment of the present disclosure;

fig. 3 shows a flowchart of another example of step S120 in a device location method according to an embodiment of the present disclosure;

FIG. 4 shows a flow diagram of a device location method according to another embodiment of the present disclosure;

fig. 5 shows a flowchart of one example of step S410 in a device location method according to another embodiment of the present disclosure;

fig. 6 shows a flow diagram of an application scenario of a device positioning method according to an embodiment of the present disclosure;

FIG. 7 shows a block diagram of a device locator according to an embodiment of the present disclosure;

FIG. 8 shows a block diagram of an example of a relocation module 720 in a device location apparatus according to an embodiment of the present disclosure;

FIG. 9 shows a block diagram of another example of a relocation module 720 in a device location apparatus according to an embodiment of the present disclosure;

FIG. 10 shows a block diagram of a device location apparatus according to another embodiment of the present disclosure;

FIG. 11 shows a block diagram of an example of an initial positioning module 1010 in a device positioning apparatus according to another embodiment of the present disclosure;

FIG. 12 shows a flow chart of a device location method according to yet another embodiment of the present disclosure;

FIG. 13 shows a flow chart of a device location method according to yet another embodiment of the present disclosure;

fig. 14 shows a flowchart of one example of step S1310 in a device positioning method according to yet another embodiment of the present disclosure;

FIG. 15 shows a flow chart of a device location method according to yet another embodiment of the present disclosure;

FIG. 16 shows a block diagram of a device positioning apparatus according to yet another embodiment of the present disclosure;

FIG. 17 shows a flow diagram of a device navigation method according to an embodiment of the present disclosure;

FIG. 18 shows a block diagram of an electronic device according to an embodiment of the present disclosure;

FIG. 19 is a block diagram of a computer system suitable for use in implementing a device location method according to an embodiment of the present disclosure.

Detailed Description

Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. Also, for the sake of clarity, parts not relevant to the description of the exemplary embodiments are omitted in the drawings.

In the present disclosure, it is to be understood that terms such as "including" or "having," etc., are intended to indicate the presence of labels, numbers, steps, actions, components, parts, or combinations thereof disclosed in the present specification, and are not intended to preclude the possibility that one or more other labels, numbers, steps, actions, components, parts, or combinations thereof are present or added.

It should be further noted that the embodiments and labels in the embodiments of the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Fig. 1 shows a flow chart of a device location method according to an embodiment of the present disclosure. As shown in fig. 1, the device location method includes the following steps S110, S120, and S130:

in step S110, it is determined whether the current location information of the device is valid according to at least one location evaluation information for determining validity of the location information.

In step S120, the device is repositioned using at least one positioning method, in response to determining that the current positioning information for the device is invalid (no in step S110).

In embodiments of the present disclosure, a device may refer to a device having mobility capabilities, such as a sweeping robot, an unmanned delivery vehicle, an unmanned automobile, an unmanned aerial vehicle, and the like. In embodiments of the present disclosure, a device may also refer to any manned device, such as a remote controlled vehicle, a remote controlled toy, a manned car, and the like.

In an embodiment of the present disclosure, locating the device refers to determining a pose of the device, and the location information of the device may refer to pose information of the device. The current positioning information of the device may refer to real-time pose information of the device or pose information within a preset time range from a real-time point. In embodiments of the present disclosure, the pose of the device refers to the position and orientation of the device, also referred to as the position and orientation of the device. The pose in the embodiments of the present disclosure refers to a known concept in the related art, and the present disclosure will not be described in detail herein.

In an embodiment of the present disclosure, the location evaluation information is used to determine the validity of the location information. Specifically, the positioning evaluation information can be used to make a reasonable judgment and an early warning for the situation of whether the positioning information is valid. In the embodiment of the present disclosure, the positioning evaluation information may be received from outside the device, or may be provided by a sensor of the device itself, which is not limited by the present disclosure.

In one embodiment of the present disclosure, the at least one positioning evaluation information includes laser matching evaluation information, speed detection evaluation information, map matching evaluation information, historical positioning evaluation information, visual loop detection evaluation information.

According to the technical scheme provided by the embodiment of the disclosure, when the device is positioned under the condition of environmental change or being surrounded by people, the positioning evaluation information comprises the laser matching evaluation information, the speed detection evaluation information, the map matching evaluation information, the historical positioning evaluation information and the visual loop detection evaluation information, and whether the device is positioned effectively or not can be judged according to the evaluation result in the positioning evaluation information, so that the device is repositioned when the positioning is judged to be invalid. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

In one embodiment of the present disclosure, the accuracy of the current positioning information (current pose information) of the device determined by the matching degree of the laser positioning data and the preset map may be recorded in the laser matching evaluation information. For example, when the matching degree of the laser positioning data and the preset map does not meet the preset matching condition, the accuracy of the current positioning information is considered to be poor, that is, the positioning fails.

In an embodiment of the present disclosure, the implementation manner of calculating the matching degree between the laser positioning data and the preset map may be that every time the current positioning information is obtained, the laser corresponding to the positioning information is projected onto the preset map, and the matching degree between the laser positioning data and the preset map is calculated. There are several ways to calculate the matching degree, for example, the distance average of each laser positioning data projected point to the nearest obstacle on the preset map can be calculated. Theoretically, this distance mean should be 0 or minimum when the laser positioning data matches a preset map. In an embodiment of the present disclosure, in a case that it is determined that the matching degree of the laser positioning data and the preset map does not meet the preset matching condition (the average distance from the point projected by each laser positioning data to the nearest obstacle on the preset map is not 0 or is greater than the preset distance threshold), it may be determined that the positioning information of the device is invalid, that is, the positioning fails.

In one embodiment of the present disclosure, the speed detection evaluation information may record the accuracy of the current device location information determined by comparing the device speed information in the current location information with speed information provided by a speed sensor of the device itself (e.g., a wheel speed meter of a device chassis). For example, if the device speed information in the current positioning information does not match the speed information of the speed sensor of the device itself, it may be determined that the positioning information of the device is invalid, that is, the positioning fails.

In one embodiment of the present disclosure, the map matching evaluation information may record whether or not the device is present at a position on the preset map that should not be present, using positioning data provided by a sensor of the device itself or positioning data received from the outside. For example, it is possible to determine whether the device is present outside the preset map or in an area where no positioning should be present, such as a pillar, present on the preset map, using the laser positioning data, and if the device is present in a position where no positioning should be present on the preset map, the current positioning information is considered invalid, i.e., the positioning fails. It is to be understood that the determination of whether the device appears at a position on the preset map that should not appear by using the laser positioning data in the map matching evaluation information is merely an example, and other positioning methods (e.g., infrared positioning, ultrasonic positioning, etc.) may be used to determine whether the device appears at a position on the preset map that should not appear.

In one embodiment of the present disclosure, the historical positioning evaluation information may record the accuracy of the current positioning information of the device determined using the historical information of previous positioning (historical positioning information). For example, the accuracy of the current positioning information of the device is determined by comparing the historical information of the previous positioning with the predicted positioning information of the self speed sensor (for example, a wheel speed meter of a device chassis) and the current positioning information of the device determined after the fusion of multiple sensors (of the device). For example, if the current location information of the device is too different from the historical information of the device location within a certain period of time, it is determined that the current location information of the device is invalid, i.e., the location fails.

In one embodiment of the present disclosure, the visual loop detection evaluation information may document the accuracy of the current positioning information using the visual loop detection device. For example, the current positioning information calculated by the vision loop is compared with the device pose determined after the multi-sensor fusion, and the accuracy of the current positioning information of the device is judged. And if the difference between the current positioning information calculated through the vision loop and the pose of the equipment determined after the multi-sensor fusion is determined to be too large, determining that the current positioning information of the equipment is invalid, namely, failing to position. In one embodiment of the present disclosure, the visual loop detection may refer to establishing a pose constraint relationship between a current frame and a previous frame. The visual loop acts to reduce the cumulative error by reducing the number of constraints. The specific implementation of the visual loopback detection can be obtained from the related art, and details of the disclosure are not repeated herein.

In one embodiment of the present disclosure, step S110 includes: and determining whether the current positioning information of the equipment is effective or not according to an evaluation result of whether the current positioning information of the equipment in the at least one piece of positioning evaluation information meets a specific preset positioning condition or not.

According to the technical scheme provided by the embodiment of the disclosure, determining whether the current positioning information of the device is effective according to at least one piece of positioning evaluation information for determining the effectiveness of the positioning information comprises: and determining whether the current positioning information of the equipment is valid according to an evaluation result of whether the current positioning information of the equipment in the at least one piece of positioning evaluation information meets a specific preset positioning condition, and judging whether the equipment is positioned effectively according to the evaluation result in the at least one piece of positioning evaluation information when the equipment is positioned under the condition of environmental change or being surrounded by people, so that the equipment is repositioned when the equipment is judged to be positioned inefficiently. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

In one embodiment of the present disclosure, when there is only one piece of location evaluation information, it is possible to determine whether the current location information of the device is valid according to the location evaluation information.

In one embodiment of the present disclosure, when there are a plurality of location evaluation information, whether the current location information is valid may be determined in various ways. For example, in one evaluation method, if the current location information of one location evaluation information recording device is invalid, the current location information of the specified device is invalid among the plurality of location evaluation information. For example, in another evaluation method, the current location information of the specified device is valid as long as more than half of the location evaluation information describing devices among the plurality of location evaluation information are valid. For example, in another evaluation method, if any one or some specific pieces of location evaluation information among the plurality of pieces of location evaluation information describe that the current location information of the device is invalid, the current location information of the specified device is invalid. For example, in another evaluation method, if any one or some specific positioning evaluation information describing the current positioning information of the device is valid among the plurality of positioning evaluation information, the current positioning information of the device is determined to be valid.

In one embodiment of the present disclosure, when there are multiple positioning evaluation information, the evaluation results of the multiple positioning evaluation information on the same current positioning information may be different. Depending on the actual situation, these location rating information may be used in different ways to determine whether the current location information of the device is valid.

In one embodiment of the present disclosure, step S120 includes: and according to the fact that the current positioning information of the equipment is invalid, repositioning the equipment by using a visual matching positioning mode and a laser matching positioning mode.

According to the technical scheme provided by the embodiment of the disclosure, the method for relocating the equipment by using at least one positioning mode according to the fact that the current positioning information of the equipment is invalid comprises the following steps: according to the fact that the current positioning information of the equipment is determined to be invalid, the equipment is repositioned by means of the visual matching positioning mode and the laser matching positioning mode, when the equipment is positioned under the condition that the environment changes or the equipment is surrounded by people, whether the equipment is positioned effectively or not can be judged according to the evaluation result in at least one piece of positioning evaluation information, and therefore the equipment is repositioned when the equipment is judged to be invalid. And moreover, the visual positioning mode and the laser positioning mode are combined together, the advantages of stable visual positioning mode, accurate laser positioning mode and high calculation speed are utilized, and the effectiveness and the accuracy of repositioning are ensured. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment under the condition of ensuring the positioning accuracy and the positioning speed, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

In embodiments of the present disclosure, there may be multiple ways of repositioning the device.

In an embodiment of the present disclosure, the device may be repositioned by using a part or all of a wheel speed meter positioning mode, an Ultra WideBand (UWB) positioning mode, a laser positioning mode, a bluetooth positioning mode, a WIFI positioning mode, a Zigbee positioning mode, an RFID positioning mode, an infrared positioning mode, and an ultrasonic positioning mode.

In one embodiment of the present disclosure, when the device has a wheeled mobile chassis, the wheel speed gauge positioning mode refers to repositioning the device using wheel speed gauge positioning data from the wheeled mobile chassis of the device.

In an embodiment of the present disclosure, an ultra-wideband positioning technique is a technique for performing communication or positioning using radio waves having a wide frequency band. The technology has the advantages of high speed, low cost and low power consumption. Specific implementation manners thereof can be known from the related technical field, and details thereof are not repeated in the present disclosure.

In the embodiment of the disclosure, the laser positioning technology can realize non-contact remote measurement, and has the advantages of high speed, high precision, large measuring range, strong light and electric interference resistance and the like. Specific implementation manners thereof can be known from the related technical field, and details thereof are not repeated in the present disclosure.

In the embodiment of the present disclosure, the bluetooth positioning technology is a positioning technology based on RSSI (received signal Strength Indication) positioning principle by using bluetooth wireless signals. The Bluetooth positioning technology is divided into network side positioning and terminal side positioning according to different positioning ends. Specific implementation manners thereof can be known from the related technical field, and details thereof are not repeated in the present disclosure.

In the embodiment of the present disclosure, the WIFI positioning technology is a positioning technology using a WIFI wireless signal, and may be based on an RSSI positioning principle or not. Specific implementation manners thereof can be known from the related technical field, and details thereof are not repeated in the present disclosure.

In an embodiment of the present disclosure, the Zigbee positioning technology is a positioning technology based on the ieee802.15.4 technology standard and the Zigbee network protocol. Specific implementation manners thereof can be known from the related technical field, and details thereof are not repeated in the present disclosure.

In the embodiments of the present disclosure, an RFID (Radio Frequency Identification) positioning technology obtains positioning information by using Radio signals through a non-contact mode of Identification and reading and writing. Specific implementation manners thereof can be known from the related technical field, and details thereof are not repeated in the present disclosure.

In the embodiment of the disclosure, the infrared positioning technology transmits infrared rays through infrared transmitting equipment at a known node, then receives the infrared signals through optical sensors arranged at the node to be detected, and calculates the distance through processing the infrared signals, thereby achieving the positioning effect. Specific implementation manners thereof can be known from the related technical field, and details thereof are not repeated in the present disclosure.

In the embodiment of the disclosure, the ultrasonic positioning technology utilizes the time difference between the emission time of the emitted ultrasonic wave and the emission time of the returned wave, and then calculates the distance according to the known propagation velocity of the ultrasonic wave, thereby achieving the positioning effect. Specific implementation manners thereof can be known from the related technical field, and details thereof are not repeated in the present disclosure.

Those skilled in the art will appreciate that the device may be repositioned using at least one of the above positioning techniques. In one embodiment of the present disclosure, the better the positioning effect when positioning is performed using more positioning techniques.

In step S130, the device is navigated using the current positioning information, in response to determining that the current positioning information of the device is valid (yes in step S110).

According to the technical scheme provided by the embodiment of the disclosure, the equipment is navigated by using the current positioning information according to the fact that the current positioning information of the equipment is determined to be effective, whether the equipment is positioned effectively or not can be judged according to the evaluation result in at least one piece of positioning evaluation information when the equipment is positioned under various conditions, and therefore the equipment is navigated when the equipment is judged to be positioned effectively. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

One example of step S120 in the device location method in fig. 1 is described below with reference to fig. 2.

Fig. 2 shows a flowchart of an example of step S120 in the device positioning method according to an embodiment of the present disclosure. As shown in fig. 2, step S120 includes steps S210 and S220.

In step S210, according to the fact that the current positioning information of the device is determined to be invalid, the collected visual features are matched with a preset visual map to determine first positioning information of the device.

In step S220, the device is repositioned by matching the laser positioning information with a preset laser map at a position corresponding to the first positioning information.

According to the technical scheme provided by the embodiment of the disclosure, the equipment is repositioned by utilizing the visual matching positioning mode and the laser matching positioning mode according to the fact that the current positioning information of the equipment is determined to be invalid, and the method comprises the following steps: determining first positioning information of the equipment by matching the acquired visual features with a preset visual map according to the fact that the current positioning information of the equipment is invalid; the equipment is repositioned by matching the laser positioning information with a preset laser map at the position corresponding to the first positioning information, and when the equipment is positioned under the condition of environmental change or being surrounded by people, whether the equipment is positioned effectively is judged according to the evaluation result in at least one piece of positioning evaluation information, so that the equipment is repositioned when the equipment is judged to be positioned inefficiently. And moreover, the visual positioning mode and the laser positioning mode are combined together, the advantages of stable visual positioning mode, accurate laser positioning mode and high calculation speed are utilized, and the effectiveness and the accuracy of repositioning are ensured. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment under the condition of ensuring the positioning accuracy and the positioning speed, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

In one embodiment of the disclosure, in the process of moving the device, the visual features collected by the camera can be recorded in real time, and the corresponding first positioning information is obtained by matching the visual features with the visual map. The device is then repositioned at this location by matching the laser positioning information to a preset map. And then, judging the validity of the positioning information obtained by repositioning. When the judgment is passed, the positioning information obtained by the relocation is considered to be valid. In the service flow of the equipment, under the condition that the positioning is invalid due to environmental change or artificial blockage and other factors, the current information obtained from the equipment sensor and the previously recorded repositioning information can be used for obtaining the current actual pose of the equipment.

Another example of step S120 in the device location method in fig. 1 is described below with reference to fig. 3.

Fig. 3 shows a flowchart of another example of step S120 in the device positioning method according to an embodiment of the present disclosure. As shown in fig. 3, step S120 includes steps S310 and S320.

In step S310, external positioning information of the device is received according to the determination that the current positioning information of the device is invalid.

In step S320, the external positioning information of the device is optimized by using at least one positioning method to reposition the device.

According to the technical scheme provided by the embodiment of the disclosure, the method for relocating the equipment by using at least one positioning mode according to the fact that the current positioning information of the equipment is invalid comprises the following steps: receiving external positioning information of the equipment according to the fact that the current positioning information of the equipment is invalid; the method comprises the steps of optimizing external positioning information of the equipment by utilizing at least one positioning mode to reposition the equipment, judging whether equipment positioning is effective or not according to an evaluation result in at least one positioning evaluation information when the equipment is positioned under the condition of environmental change or being surrounded by people, and repositioning when the equipment positioning is judged to be ineffective. Also, the speed of relocation is ensured by performing relocation by optimizing for location information obtained from the outside. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the device under the condition of ensuring the positioning speed of the positioning, so that the device can be applied in a service scene for a long time without being interrupted by various external interferences.

In one embodiment of the present disclosure, a method for giving rough positioning information of a device directly through an external interface may be provided, and then positioning information obtained from the outside is optimized through a scheme of multi-sensor fusion, so as to conveniently and rapidly adjust a positioning result.

A device positioning method in another embodiment of the present disclosure is described below with reference to fig. 4.

Fig. 4 shows a flow chart of a device location method according to another embodiment of the present disclosure. The embodiment shown in fig. 4 is different from the embodiment shown in fig. 1 in that it further includes step S410.

In step S410, the device is located by using at least one location method to obtain initial location information of the device as current location information.

According to the technical scheme provided by the embodiment of the disclosure, the equipment is positioned by utilizing at least one positioning mode to acquire the initial positioning information of the equipment as the current positioning information, so that the equipment can realize quick positioning by utilizing at least one positioning mode, and the problem that the equipment needs to be positioned when being started at any position is effectively solved. Meanwhile, when the equipment has a fault and needs to be restarted, the equipment can be quickly positioned after being restarted, so that manual intervention is avoided. Moreover, when the device is positioned under the condition of environmental change or being surrounded by people, whether the device positioning is effective or not can be judged according to the evaluation result in at least one piece of positioning evaluation information, so that the device positioning can be repositioned when the device positioning is judged to be ineffective. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

One example of step S410 in the device location method in fig. 4 is described below with reference to fig. 5.

Fig. 5 shows a flowchart of one example of step S410 in a device location method according to another embodiment of the present disclosure. As shown in fig. 5, step S410 includes steps S510 and S520.

In step S510, the collected visual features are matched with a preset visual map to determine second positioning information of the device.

In step S520, the device is located by matching the laser location information with a preset laser map at a position corresponding to the second location information, so as to determine initial location information of the device.

According to the technical scheme provided by the embodiment of the disclosure, positioning the device by using at least one positioning mode to acquire initial positioning information of the device as current positioning information comprises the following steps: matching the acquired visual features with a preset visual map to determine second positioning information of the equipment; and at the position corresponding to the second positioning information, the equipment is positioned by matching the laser positioning information with a preset laser map so as to determine the initial positioning information of the equipment, so that the equipment can realize quick positioning by utilizing a visual positioning mode and a laser positioning mode, and the problem that the equipment needs to be positioned when being started at any position is effectively solved. And moreover, the visual positioning mode and the laser positioning mode are combined together, the advantages of stable visual positioning mode, accurate laser positioning mode and high calculation speed are utilized, and the effectiveness and the accuracy of initial positioning are ensured. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment under the condition of ensuring the positioning accuracy and the positioning speed, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

In one embodiment of the present disclosure, step S410 includes: according to the condition that the visual positioning feature cannot be acquired, the indicating equipment moves by using a local laser map generated according to the laser positioning information of the equipment until the visual positioning feature is acquired.

According to the technical scheme provided by the embodiment of the disclosure, positioning the device by using at least one positioning mode to acquire initial positioning information of the device as current positioning information comprises the following steps: according to the fact that the visual positioning feature cannot be acquired, the indicating equipment moves by using the local laser map generated according to the laser positioning information of the equipment until the visual positioning feature is acquired, so that the equipment can autonomously move in a small range with obstacle avoidance according to the local laser map generated according to the surrounding laser positioning information, rapid positioning is achieved by using the visual positioning information, and the problem that the equipment needs to be positioned when being started at any position is effectively solved. And moreover, the visual positioning mode and the laser positioning mode are combined together, the advantages of stable visual positioning mode, accurate laser positioning mode and high calculation speed are utilized, and the effectiveness and the accuracy of initial positioning are ensured. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment under the condition of ensuring the positioning accuracy and the positioning speed, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

In a conventional positioning method, initial position information needs to be given to confirm the initial position of the device, and this method is not flexible. In another conventional positioning method, by randomly predicting a position at a position of a full map and confirming the accuracy of the random position according to actual observation, the method is computationally expensive and is easily ineffective on a map having similar areas.

In one embodiment of the disclosure, the device automatically performs visual positioning when being started, and if the current position cannot obtain enough visual features, the device performs small-scale movement with an obstacle avoidance function according to a local map obtained by laser positioning information, and finds effective visual features through a camera. The visual features are matched with a visual map. And when the visual features are successfully matched with the visual map, matching with a preset map through the laser positioning information. If the laser positioning information is successfully matched with the preset map, the position and the attitude of the equipment can be calculated by utilizing the laser positioning information around the position determined according to the current positioning information, and the equipment can perform subsequent business processes by taking the position and the attitude as the initial positioning.

An application scenario of the device location method according to an embodiment of the present disclosure is described below with reference to fig. 6.

Fig. 6 is a flowchart illustrating an application scenario of a device location method according to an embodiment of the present disclosure. Fig. 6 shows a scenario in which the device positioning method according to an embodiment of the present disclosure is applied to robot positioning.

In the scenario shown in fig. 6, the core sensors applied by the robot positioning system include a lidar and a camera. The robot positioning system may include a self-positioning module, a positioning evaluation module, and a repositioning module.

1. A self-positioning module:

i. the conventional method requires initial position information to confirm the initial position of the robot, and is not flexible. It is also possible to randomly predict the location at the location of the full map and confirm the accuracy of the random location based on actual observations, which is computationally expensive and prone to failure on maps with similar areas.

Therefore, in the robot positioning system according to the embodiment of the present disclosure, the robot performs the visual positioning automatically when it is turned on. If the current position cannot obtain enough visual features, the robot performs small-scale movement with an obstacle avoidance function according to a local map obtained by the laser radar, and effective visual features are found through the camera. And matching the visual features with the visual map, and matching with the laser map through the laser radar after the matching is successful. And if the laser radar is matched with the laser map, the pose of the robot can be calculated by using laser information around the calculated position. The robot can perform subsequent business processes by taking the calculated initial position as the initial position.

2. A positioning evaluation module:

various effective information is comprehensively utilized, and reasonable judgment and early warning are made for the positioning failure condition.

i. And laser matching evaluation information. For example, the accuracy of the present robot pose can be judged by using the matching degree of the laser information and the map.

Speed detection evaluation information. For example, the robot speed information obtained by positioning can be compared with the information of a robot chassis wheel speed meter to judge the accuracy of the current robot pose.

Map matching evaluation information. For example, it is possible to determine whether the robot is present at a position where it should not be present using laser map positioning information. And if the result of laser positioning is outside the map, or the area where the robot cannot appear such as a pillar on the map, determining that the positioning is failed.

Historical positioning evaluation information. For example, the accuracy of the current robot pose can be judged by comparing the historical information of the previous positioning with the prediction of the wheel speed meter and the robot position after the multi-sensor fusion.

v. visual loop detection evaluation information. For example, the position calculated by visual loop detection can be compared with the position of the robot after the multi-sensor fusion, and the accuracy of the pose of the robot at present can be judged.

3. Relocation module

i. In the scene, the robot can record the visual characteristics acquired by the camera in real time in the moving process. And matching the visual features with the visual map to obtain corresponding pose information. Then, at the position, the laser positioning information can be matched with a laser map so as to judge the effectiveness. When the validity judgment is passed, the positioning information obtained after the relocation is considered to be valid. In the service flow of the robot, when the positioning is failed (judged by the positioning evaluation module) due to environmental changes or artificial blocking and other factors, the current actual position of the robot can be recovered by using the current information obtained from the sensor and the previously recorded repositioning information.

in some specific business processes, a method for giving rough positioning information of the robot directly through an external interface can be provided, and then the positioning information is optimized through a multi-sensor fusion scheme, so that the positioning result can be conveniently and rapidly adjusted.

An apparatus positioning device according to an embodiment of the present disclosure is described below with reference to fig. 7 to 11.

Fig. 7 shows a block diagram of a device positioning apparatus 700 according to an embodiment of the present disclosure. As shown in fig. 7, the device location apparatus 700 includes a determination module 710, a relocation module 720, and a navigation module 730.

The determination module 710 is configured to determine whether current location information of the device is valid based on at least one location rating information used to determine validity of the location information.

The relocation module 720 is configured to relocate the device using at least one location mode in response to the determination module determining that the current location information for the device is invalid.

According to the technical scheme provided by the embodiment of the disclosure, the determining module is configured to determine whether the current positioning information of the device is valid according to at least one piece of positioning evaluation information; the repositioning module is configured to reposition the device by using at least one positioning mode according to the fact that the current positioning information of the device is determined to be invalid by the determining module, and can judge whether the device is positioned effectively or not according to the evaluation result in the at least one positioning evaluation information when the device is positioned under the condition that the environment is changed or the device is surrounded by people, so that the device is repositioned when the device is judged to be invalid. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

In one embodiment of the present disclosure, the determining module 710 is further configured to: and determining whether the current positioning information of the equipment is effective or not according to an evaluation result of whether the current positioning information of the equipment in the at least one piece of positioning evaluation information meets a specific preset positioning condition or not.

According to the technical scheme provided by the embodiment of the disclosure, the determining module is further configured to: determining whether current location information of a device is valid according to at least one location evaluation information for determining validity of the location information, including: and determining whether the current positioning information of the equipment is valid according to an evaluation result of whether the current positioning information of the equipment in the at least one piece of positioning evaluation information meets a specific preset positioning condition, and judging whether the equipment is positioned effectively according to the evaluation result in the at least one piece of positioning evaluation information when the equipment is positioned under the condition of environmental change or being surrounded by people, so that the equipment is repositioned when the equipment is judged to be positioned inefficiently. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

In one embodiment of the present disclosure, the relocation module 720 is further configured to: and according to the fact that the current positioning information of the equipment is determined to be invalid by the determining module 710, the equipment is repositioned by utilizing a visual matching positioning mode and a laser matching positioning mode.

According to the technical solution provided by the embodiment of the present disclosure, the relocation module is further configured to: the current positioning information of the equipment is determined to be invalid by the determining module, the equipment is repositioned by utilizing a visual matching positioning mode and a laser matching positioning mode, and when the equipment is positioned under the condition of environmental change or being surrounded by people, whether the equipment is positioned is valid or not is judged according to an evaluation result in at least one piece of positioning evaluation information, so that the equipment is repositioned when the equipment is judged to be invalid. And moreover, the visual positioning mode and the laser positioning mode are combined together, the advantages of stable visual positioning mode, accurate laser positioning mode and high calculation speed are utilized, and the effectiveness and the accuracy of repositioning are ensured. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment under the condition of ensuring the positioning accuracy and the positioning speed, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

The navigation module 730 is configured to navigate the device using the current location information in accordance with the determination module 710 determining that the current location information of the device is valid.

According to the technical scheme provided by the embodiment of the disclosure, the navigation module is configured to determine that the current positioning information of the device is effective according to the determination module, and the device is navigated by using the current positioning information, so that when positioning is performed under various conditions, whether the device is positioned effectively is judged according to the evaluation result in at least one piece of positioning evaluation information, and the device is navigated when the device is judged to be positioned effectively. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

One example of the relocation module 720 in the device location apparatus of FIG. 7 is described below with reference to FIG. 8.

Fig. 8 shows a block diagram of an example of a relocation module 720 in a device location apparatus according to an embodiment of the present disclosure. As shown in fig. 8, the repositioning module 720 includes a first visual matching sub-module 810 and a first laser matching sub-module 820.

The first visual matching sub-module 810 is configured to determine first location information of the device using matching of the collected visual features to a preset visual map, in accordance with the determination module 710 determining that the current location information of the device is invalid.

The first laser matching sub-module 820 is configured to reposition the device by matching with a preset laser map using the laser positioning information at a position corresponding to the first positioning information.

According to the technical scheme provided by the embodiment of the disclosure, the repositioning module comprises: the first visual matching sub-module is configured to determine that the current positioning information of the equipment is invalid according to the determination module, and determine first positioning information of the equipment by matching the acquired visual features with a preset visual map; the first laser matching sub-module is configured to perform relocation on the equipment by matching the laser positioning information with a preset laser map at a position corresponding to the first positioning information, and when the equipment is positioned under the condition of environmental change or being surrounded by people, whether the equipment is positioned effectively is judged according to an evaluation result in at least one piece of positioning evaluation information, so that the equipment is repositioned when the equipment is judged to be positioned inefficiently. And moreover, the visual positioning mode and the laser positioning mode are combined together, the advantages of stable visual positioning mode, accurate laser positioning mode and high calculation speed are utilized, and the effectiveness and the accuracy of repositioning are ensured. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment under the condition of ensuring the positioning accuracy and the positioning speed, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

One example of the relocation module 720 in the device location apparatus of FIG. 7 is described below with reference to FIG. 9.

Fig. 9 shows a block diagram of another example of a relocation module 720 in a device location apparatus according to an embodiment of the present disclosure. As shown in fig. 9, the relocation module 720 includes a receiving sub-module 910 and a second relocation sub-module 920.

The receiving sub-module 910 is configured to receive external positioning information of the device in accordance with the determination module 710 determining that the current positioning information of the device is invalid.

The second relocation submodule 920 is configured to optimize external location information of the device using at least one location mode to relocate the device.

According to the technical scheme provided by the embodiment of the disclosure, the repositioning module comprises: the receiving submodule is configured to receive external positioning information of the equipment according to the fact that the current positioning information of the equipment is determined to be invalid by the determining module; and the second repositioning sub-module is configured to optimize external positioning information of the equipment by using at least one positioning mode so as to reposition the equipment, and can judge whether the equipment is positioned effectively or not according to an evaluation result in at least one positioning evaluation information when the equipment is positioned under the condition that the environment is changed or the equipment is surrounded by people, so that the equipment is repositioned when the equipment is judged to be positioned ineffectively. Also, the speed of relocation is ensured by performing relocation by optimizing for location information obtained from the outside. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the device under the condition of ensuring the positioning speed of the positioning, so that the device can be applied in a service scene for a long time without being interrupted by various external interferences.

An apparatus positioning device in another embodiment of the present disclosure is described below with reference to fig. 10.

Fig. 10 shows a block diagram of a device positioning apparatus 1000 according to another embodiment of the present disclosure. The embodiment shown in fig. 10 differs from the embodiment shown in fig. 7 in that it further includes an initial positioning module 1010.

The initial positioning module 1010 is configured to position the device by using at least one positioning method to obtain initial positioning information of the device as current positioning information.

According to the technical scheme provided by the embodiment of the disclosure, the initial positioning module is configured to position the equipment by using at least one positioning mode to acquire the initial positioning information of the equipment as the current positioning information, so that the equipment can realize quick positioning by using at least one positioning mode, and the problem that the equipment needs to be positioned when being started at any position is effectively solved. Meanwhile, when the equipment has a fault and needs to be restarted, the equipment can be quickly positioned after being restarted, so that manual intervention is avoided. Moreover, when the device is positioned under the condition of environmental change or being surrounded by people, whether the device positioning is effective or not can be judged according to the evaluation result in at least one piece of positioning evaluation information, so that the device positioning can be repositioned when the device positioning is judged to be ineffective. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

One example of the initial positioning module 1010 in the device positioning apparatus of fig. 10 is described below with reference to fig. 11.

Fig. 11 shows a block diagram of an example of an initial positioning module 1010 in a device positioning apparatus according to another embodiment of the present disclosure. As shown in fig. 11, the initial positioning module 1010 includes a second visual matching sub-module 1110 and a second laser matching sub-module 1120.

The second visual matching sub-module 1110 is configured to determine second positioning information of the device by matching the acquired visual features with a preset visual map.

The second laser matching sub-module 1120 is configured to locate the device by matching the laser positioning information with a preset laser map at a position corresponding to the second positioning information to determine initial positioning information of the device.

According to the technical scheme provided by the embodiment of the disclosure, the initial positioning module comprises: a second visual matching sub-module configured to determine second positioning information of the device by matching the collected visual features with a preset visual map; the second laser matching submodule is configured to locate the equipment by matching the laser positioning information with a preset laser map at a position corresponding to the second positioning information so as to determine initial positioning information of the equipment, so that the equipment can be quickly located by using a visual positioning mode and a laser positioning mode, and the problem that the equipment needs to be located when being started at any position is effectively solved. And moreover, the visual positioning mode and the laser positioning mode are combined together, the advantages of stable visual positioning mode, accurate laser positioning mode and high calculation speed are utilized, and the effectiveness and the accuracy of initial positioning are ensured. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment under the condition of ensuring the positioning accuracy and the positioning speed, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

In one embodiment of the present disclosure, the initial positioning module 1010 is further configured to: according to the condition that the visual positioning feature cannot be acquired, the indicating equipment moves by using a local laser map generated according to the laser positioning information of the equipment until the visual positioning feature is acquired.

According to the technical scheme provided by the embodiment of the disclosure, the initial positioning module is further configured to: according to the fact that the visual positioning feature cannot be acquired, the indicating equipment moves by using the local laser map generated according to the laser positioning information of the equipment until the visual positioning feature is acquired, so that the equipment can autonomously move in a small range with obstacle avoidance according to the local laser map generated according to the surrounding laser positioning information, rapid positioning is achieved by using the visual positioning information, and the problem that the equipment needs to be positioned when being started at any position is effectively solved. And moreover, the visual positioning mode and the laser positioning mode are combined together, the advantages of stable visual positioning mode, accurate laser positioning mode and high calculation speed are utilized, and the effectiveness and the accuracy of initial positioning are ensured. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment under the condition of ensuring the positioning accuracy and the positioning speed, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

It can be understood by those skilled in the art that the technical solutions described with reference to fig. 7 to 11 can be combined with the embodiments described with reference to fig. 1 to 6, so as to have the technical effects achieved by the embodiments described with reference to fig. 1 to 6. For details, reference may be made to the description made above with reference to fig. 1 to 6, and details thereof are not repeated herein.

A device positioning method according to an embodiment of the present disclosure is described below with reference to fig. 12 to 15.

Fig. 12 shows a flow chart of a device location method according to yet another embodiment of the present disclosure. As shown in fig. 12, the device location method includes the following steps S1210, S1220, and S1230:

in step S1210, it is determined whether current location information of the device is valid according to at least one location evaluation information for determining validity of the location information.

In step S1220, according to a determination that the current positioning information of the device is invalid, the collected visual features are matched with a preset visual map to determine first positioning information of the device.

In step S1230, the device is repositioned by matching the laser positioning information with a preset laser map at a position corresponding to the first positioning information.

A device positioning method according to still another embodiment of the present disclosure is described below with reference to fig. 13.

Fig. 13 shows a flow chart of a device location method according to yet another embodiment of the present disclosure. The embodiment shown in fig. 13 is different from the embodiment shown in fig. 12 in that it further includes step S1310.

In step S1310, the device is located by using at least one location method to obtain initial location information of the device as the current location information.

One example of step S1310 illustrated in fig. 13 is described below with reference to fig. 14.

Fig. 14 shows a flowchart of one example of step S1310 in the device positioning method according to still another embodiment of the present disclosure. Step S1310 includes steps S1410 and S1420.

In step S1410, second positioning information of the device is determined by matching the collected visual features with a preset visual map.

In step S1420, the device is located by matching the laser location information with a preset laser map at a position corresponding to the second location information, so as to determine initial location information of the device.

In one embodiment of the present disclosure, step S1310 includes: and according to the visual positioning feature which cannot be acquired, instructing the equipment to move by using a local laser map generated according to the laser positioning information of the equipment until the visual positioning feature is acquired.

A device positioning method according to still another embodiment of the present disclosure is described below with reference to fig. 15.

Fig. 15 shows a flow chart of a device location method according to yet another embodiment of the present disclosure. The embodiment shown in fig. 15 is different from the embodiment shown in fig. 12 in that steps S1510 and S1520 are further included.

In step S1510, external positioning information of the device is received according to a determination that the current positioning information of the device is invalid.

In step S1520, the external positioning information of the device is optimized using at least one positioning method to reposition the device.

It can be understood by those skilled in the art that the technical solutions described with reference to fig. 12 to 15 can be combined with the embodiments described with reference to fig. 1 to 11, so as to have the technical effects achieved by the embodiments described with reference to fig. 1 to 11. For details, reference may be made to the description made above with reference to fig. 1 to 11, and details thereof are not repeated herein.

An apparatus positioning device according to still another embodiment of the present disclosure is described below with reference to fig. 16.

Fig. 16 shows a block diagram of a device location apparatus 1600 according to yet another embodiment of the present disclosure. The embodiment shown in FIG. 16 includes a first determining module 1610, a second determining module 1620, and a repositioning module 1630.

The first determination module 1610 is configured to determine whether current location information of the device is valid according to at least one location rating information for determining validity of the location information.

The second determining module 1620 is configured to determine the first positioning information of the device by matching the collected visual features with a preset visual map according to the first determining module 1610 determining that the current positioning information of the device is invalid.

The repositioning module 1630 is configured to reposition the device by matching the laser positioning information with a preset laser map at a position corresponding to the first positioning information.

According to the technical scheme provided by the embodiment of the disclosure, the first determining module is configured to determine whether the current positioning information of the device is valid according to at least one piece of positioning evaluation information for determining the validity of the positioning information; a second determination module configured to determine the first positioning information of the device by matching the collected visual features with a preset visual map according to the fact that the first determination module determines that the current positioning information of the device is invalid; the repositioning module is configured to reposition the device by matching the laser positioning information with a preset laser map at a position corresponding to the first positioning information, and when the device is positioned under the condition of environmental change or being surrounded by people, whether the device is positioned effectively is judged according to an evaluation result in at least one piece of positioning evaluation information, so that the repositioning is carried out when the device is judged to be positioned inefficiently. And moreover, the visual positioning mode and the laser positioning mode are combined together, the advantages of stable visual positioning mode, accurate laser positioning mode and high calculation speed are utilized, and the effectiveness and the accuracy of repositioning are ensured. Therefore, the technical scheme of the embodiment of the disclosure improves the robustness of the positioning system of the equipment under the condition of ensuring the positioning accuracy and the positioning speed, so that the equipment can be applied in a service scene for a long time without being interrupted by various external interferences.

It can be understood by those skilled in the art that the technical solution described with reference to fig. 16 can be combined with the embodiment described with reference to fig. 1 to 15, so as to have the technical effects achieved by the embodiment described with reference to fig. 1 to 15. For details, reference may be made to the description made above with reference to fig. 1 to fig. 15, and details thereof are not repeated herein.

A device navigation method according to an embodiment of the present disclosure is described below with reference to fig. 17.

Fig. 17 shows a flow chart of a device navigation method according to an embodiment of the present disclosure. As shown in fig. 17, the device navigation method includes the following steps S1710 and S1720:

in step S1710, it is determined whether the current location information of the device is valid according to at least one location evaluation information for determining the validity of the location information.

In step S1720, in accordance with a determination that the current positioning information of the device is valid, navigating the device using the current positioning information.

It can be understood by those skilled in the art that the technical solution described with reference to fig. 17 can be combined with the embodiment described with reference to fig. 1 to 16, so as to have the technical effects achieved by the embodiment described with reference to fig. 1 to 16. For details, reference may be made to the description made above with reference to fig. 1 to 16, and details thereof are not repeated herein.

According to an embodiment of the present disclosure, there is provided a data processing method including the steps of:

acquiring first positioning information of equipment;

determining that the first positioning information meets a preset condition;

In an embodiment of the present disclosure, the first positioning information is used to determine validity of a current positioning result. Specifically, the current positioning result is determined to be invalid by determining that the first positioning information meets a preset condition. In the embodiment of the present disclosure, the first positioning information may be received from outside the device, or may be provided by a sensor of the device itself, which is not limited by the present disclosure. In the present embodiment, the description of the first positioning information may refer to the description of the positioning evaluation information in the previous embodiment. The "first positioning information" in the present embodiment is different from the "first positioning information" described with reference to fig. 2, 8, 12, and 16. In an embodiment of the present disclosure, determining that the first positioning information satisfies the preset condition may be considered to determine that the current positioning result of the device is invalid.

According to this embodiment of the disclosure, the first positioning information includes one or more of the following in combination: laser matching evaluation information, speed detection evaluation information, map matching evaluation information, historical positioning evaluation information and visual loop detection evaluation information.

In this embodiment of the present disclosure, the foregoing embodiments are referred to for the description of the laser matching evaluation information, the speed detection evaluation information, the map matching evaluation information, the historical positioning evaluation information, and the visual loop detection evaluation information.

According to this embodiment of the present disclosure, repositioning the device using a visual matching positioning method and a laser matching positioning method includes:

In the present embodiment, the description of the "second positioning information" may refer to the description of the "first positioning information" with respect to fig. 2, 8, 12, and 16 in the foregoing embodiments. In this embodiment, in the process of moving the device, the visual features acquired by the camera may be recorded in real time, and the corresponding second positioning information is obtained by matching the visual features with the visual map. The device is then repositioned at this location by matching the laser positioning information to a preset map. And then, judging the validity of the positioning information obtained by repositioning. When the judgment is passed, the positioning information obtained by the relocation is considered to be valid. In the service flow of the equipment, under the condition that the positioning is invalid due to environmental change or artificial blockage and other factors, the current information obtained from the equipment sensor and the previously recorded repositioning information can be used for obtaining the current actual pose of the equipment.

Those skilled in the art can understand that 3 technical solutions in the above-described embodiments can be combined with the embodiments described with reference to fig. 1 to 17, so as to have the technical effects achieved by the embodiments described with reference to fig. 1 to 17. For details, reference may be made to the description made above with reference to fig. 1 to 17, and details thereof are not repeated herein.

While the internal functions and structures of the device location apparatus have been described above, in one possible design, the structure of the device location apparatus may be implemented as an electronic device, such as shown in FIG. 18, the electronic device 1800 may include a processor 1801 and a memory 1802.

The memory 1802 is configured to store a program for supporting a device positioning apparatus to execute the device positioning method in any of the above embodiments, and the processor 1801 is configured to execute the program stored in the memory 1802.

The memory 1802 is configured to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor 1801 to implement the steps of:

In one embodiment of the present disclosure, the determining whether the current location information of the device is valid according to at least one location evaluation information for determining validity of the location information includes:

In one embodiment of the present disclosure, relocating the device using at least one location method according to determining that current location information of the device is invalid, includes:

In an embodiment of the present disclosure, the repositioning the device using a visual matching positioning method and a laser matching positioning method according to determining that the current positioning information of the device is invalid includes:

In one embodiment of the present disclosure, the one or more computer instructions are further executable by the processor 1801 to implement the steps of:

In an embodiment of the present disclosure, the positioning the device by using at least one positioning method to obtain initial positioning information of the device as the current positioning information includes:

acquiring first positioning information of equipment;

determining that the first positioning information meets a preset condition;

In one embodiment of the present disclosure, the first positioning information includes a combination of one or more of:

In one embodiment of the present disclosure, repositioning the device using a visual matching positioning method and a laser matching positioning method includes:

The processor 1801 is configured to perform all or a portion of the aforementioned method steps.

The electronic device may further include a communication interface in the structure, and the communication interface is used for the electronic device to communicate with other devices or a communication network.

Exemplary embodiments of the present disclosure also provide a computer storage medium for storing computer software instructions for the device positioning apparatus, which includes a program for executing any of the above embodiments, thereby providing technical effects brought by the method.

As shown in fig. 19, the computer system 1900 includes a Central Processing Unit (CPU)1901, which can execute various processes in the embodiment shown in the above-described drawings in accordance with a program stored in a Read Only Memory (ROM)1902 or a program loaded from a storage section 1908 into a Random Access Memory (RAM) 1903. In the RAM1903, various programs and data necessary for the operation of the system 1900 are also stored. The CPU1901, ROM1902, and RAM1903 are connected to one another via a bus 1904. An input/output (I/O) interface 1905 is also connected to bus 1904.

The following components are connected to the I/O interface 1905: an input section 1906 including a keyboard, a mouse, and the like; an output section 1907 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 1908 including a hard disk and the like; and a communication section 1909 including a network interface card such as a LAN card, a modem, or the like. The communication section 1909 performs communication processing via a network such as the internet. Drivers 1910 are also connected to I/O interface 1905 as needed. A removable medium 1911 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 1910 as necessary, so that a computer program read out therefrom is mounted in the storage section 1908 as necessary.

In particular, according to embodiments of the present disclosure, the methods described above with reference to the figures may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a medium readable thereby, the computer program comprising program code for performing the methods of the figures. In such an embodiment, the computer program may be downloaded and installed from a network via communications portion 1909 and/or installed from removable media 1911.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowcharts or block diagrams may represent a module, a program segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units or modules described in the embodiments of the present disclosure may be implemented by software or hardware. The units or modules described may also be provided in a processor, and the names of the units or modules do not in some cases constitute a limitation of the units or modules themselves.

As another aspect, the present disclosure also provides a computer-readable storage medium, which may be the computer-readable storage medium included in the apparatus in the above-described embodiment; or it may be a separate computer readable storage medium not incorporated into the device. The computer-readable storage medium stores one or more programs which are used by one or more processors to perform the methods described in the present disclosure, thereby providing technical effects brought by the methods.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is possible without departing from the inventive concept. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.

Claims

1. A method for locating a device, comprising:

2. The method of claim 1, wherein determining whether current location information of the device is valid according to at least one location rating information for determining validity of the location information comprises:

3. The method according to claim 1 or 2, wherein the at least one positioning evaluation information comprises laser matching evaluation information, speed detection evaluation information, map matching evaluation information, historical positioning evaluation information, visual loop detection evaluation information.

4. The method of claim 1 or 2, wherein relocating the device using at least one location based on determining that the current location information for the device is not valid comprises:

5. The method of claim 4, wherein repositioning the device using a visual matching positioning method and a laser matching positioning method in response to determining that the current positioning information of the device is invalid comprises:

6. The method of claim 1 or 2, wherein relocating the device using at least one location based on determining that the current location information for the device is not valid comprises:

7. The method of claim 1, further comprising:

8. The method of claim 7, wherein the positioning the device by using at least one positioning method to obtain initial positioning information of the device as the current positioning information comprises:

9. The method of claim 8, wherein the positioning the device by using at least one positioning method to obtain initial positioning information of the device as the current positioning information comprises:

10. The method of claim 1, further comprising:

11. An apparatus positioning device, comprising:

12. A method for locating a device, comprising:

13. The method of claim 12, further comprising:

14. The method of claim 13, wherein the positioning the device by using at least one positioning method to obtain initial positioning information of the device as the current positioning information comprises:

15. The method according to claim 14, wherein the positioning the device by using at least one positioning method to obtain initial positioning information of the device as the current positioning information comprises:

16. The method of claim 12, further comprising:

17. An apparatus positioning device, comprising:

18. A device navigation method, comprising:

19. A data processing method, comprising:

acquiring first positioning information of equipment;

determining that the first positioning information meets a preset condition;

20. The method of claim 19, wherein the first positioning information comprises one or more of the following:

21. The method of claim 19, wherein repositioning the device using a visual matching positioning and a laser matching positioning comprises:

22. An electronic device comprising a memory and a processor; wherein,

the memory is to store one or more computer instructions, wherein the one or more computer instructions are to be executed by the processor to implement the method of any of claims 1-10, 12-16, 18-21.

23. A readable storage medium having stored thereon computer instructions, which when executed by a processor, implement the method of any one of claims 1-10, 12-16, 18-21.