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

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, 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, an apparatus, an electronic device, and a readable storage medium.

Background technique

Devices with automatic moving functions, such as sweeping robots, unmanned trucks, unmanned vehicles, unmanned aerial vehicles, etc., have become more and more common in the current society. For example, with the development of the new retail concept, mobile robots with logistics functions are increasingly used in various business scenarios, becoming an important link between people, goods and fields.

At present, many commercial scenarios, such as restaurants, shopping malls and other complex indoor environments, have the characteristics of many people, fast scene changes and unpredictability. It is hoped that self-mobile devices will be introduced to solve the problem of terminal distribution. In different business scenarios, self-mobile devices need to be started in different locations to complete business processes. In the practical application of the self-mobile device, there is a problem of how to restore the positioning after the self-mobile device becomes invalid when the environment changes or is surrounded by people.

SUMMARY OF THE INVENTION

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

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

Determine whether the current positioning information of the device is valid according to at least one positioning evaluation information used to determine the validity of the positioning information;

According to determining that the current positioning information of the device is invalid, the device is relocated by using at least one positioning method.

With reference to the first aspect, in a first implementation manner of the first aspect of the present disclosure, the determining whether the current positioning information of the device is valid according to at least one positioning evaluation information used to determine the validity of the positioning information includes:

Whether the current positioning information of the device is valid is determined according to an evaluation result of whether the current positioning information of the device meets a specific preset positioning condition in at least one positioning evaluation information.

With reference to the first aspect or the first implementation manner of the first aspect, in the second implementation manner of the first aspect of the present disclosure, the at least one positioning evaluation information includes laser matching evaluation information, speed detection evaluation information, and map matching evaluation information. information, historical positioning evaluation information, and visual loopback 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 of the present disclosure, according to determining that the current positioning information of the device is invalid, use at least one positioning method to locate the device Repositioning, including:

According to determining that the current positioning information of the device is invalid, the device is repositioned by using a visual matching positioning method and a laser matching positioning method.

In combination with the third implementation manner of the first aspect, in the fourth implementation manner of the first aspect of the present disclosure, the current positioning information of the device is determined to be invalid, and the visual matching positioning method and the laser matching positioning method are used to locate the device. relocation of the equipment described above, including:

According to determining that the current positioning information of the device is invalid, the first positioning information of the device is determined by matching the collected visual features with a preset visual map;

At the position corresponding to the first positioning information, the device is repositioned by matching the laser positioning information 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 of the present disclosure, according to determining that the current positioning information of the device is invalid, use at least one positioning method to locate the device Repositioning, including:

According to determining that the current positioning information of the device is invalid, receive the external positioning information of the device;

The external positioning information of the device is optimized using at least one positioning method to relocate the device.

In conjunction with the first aspect, in a sixth implementation manner of the first aspect, the present disclosure further includes:

The device is positioned by using at least one positioning method to obtain initial positioning information of the device as the current positioning information.

With reference to the sixth implementation manner of the first aspect, in the seventh implementation manner of the first aspect of the present disclosure, the device is positioned using at least one positioning method to obtain initial positioning information of the device as the The current positioning information, including:

Using the collected visual features to match with a preset visual map to determine the second positioning information of the device;

At the position corresponding to the second positioning information, the device is positioned by matching the laser positioning information with a preset laser map, so as to determine the initial positioning information of the device.

With reference to the seventh implementation manner of the first aspect, in the eighth implementation manner of the first aspect of the present disclosure, the device is positioned using at least one positioning method to obtain initial positioning information of the device as the The current positioning information, including:

According to the failure to collect the visual positioning feature, the device is instructed to use the local laser map generated according to the laser positioning information of the device to move until the visual positioning feature is collected.

In conjunction with the first aspect, the present disclosure further includes in a ninth implementation manner of the first aspect:

According to determining that the current positioning information of the device is valid, the device is navigated by using the current positioning information.

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

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

The relocation module is configured to determine, according to the determination module, that the current location information of the device is invalid, and to relocate the device by using at least one location method.

In conjunction with the second aspect, in a first implementation manner of the second aspect of the present disclosure, the determining module is further configured to:

Whether the current positioning information of the device is valid is determined according to an evaluation result of whether the current positioning information of the device meets a specific preset positioning condition in at least one positioning evaluation information.

In combination with the second aspect or the first implementation manner of the second aspect, in the second implementation manner of the second aspect, the at least one positioning evaluation information includes laser matching evaluation information, speed detection evaluation information, and map matching evaluation information. information, historical positioning evaluation information, and visual loopback detection evaluation information.

In conjunction with the second aspect or the first implementation manner of the second aspect, in a third implementation manner of the second aspect of the present disclosure, the relocation module is further configured to:

It is determined by the determining module that the current positioning information of the device is invalid, and the device is relocated by using a visual matching positioning method and a laser matching positioning method.

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

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

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

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 relocation module includes:

a receiving sub-module, configured to determine that the current positioning information of the device is invalid according to the determining module, and receive the external positioning information of the device;

The second relocation sub-module is configured to optimize the external positioning information of the device by using at least one positioning method to relocate the device.

In conjunction with the second aspect, in a sixth implementation manner of the second aspect, the present disclosure further includes:

The initial positioning module is configured to use at least one positioning method to position the device 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 the seventh implementation manner of the second aspect of the present disclosure, the initial positioning module includes:

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

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

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

According to the failure to collect the visual positioning feature, the device is instructed to use the local laser map generated according to the laser positioning information of the device to move until the visual positioning feature is collected.

In conjunction with the second aspect, in a ninth implementation manner of the second aspect, the present disclosure further includes:

The navigation module is configured to determine that the current positioning information of the device is valid according to the determining module, and use the current positioning information to navigate the device.

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

Determine whether the current positioning information of the device is valid according to at least one positioning evaluation information used to determine the validity of the positioning information;

According to determining that the current positioning information of the device is invalid, the first positioning information of the device is determined by matching the collected visual features with a preset visual map;

At the position corresponding to the first positioning information, the device is repositioned by matching the laser positioning information with a preset laser map.

In conjunction with the third aspect, in a first implementation manner of the third aspect, the present disclosure further includes:

The device is positioned by using at least one positioning method to obtain initial positioning information of the device as the current positioning information.

With reference to the first implementation manner of the third aspect, in the second implementation manner of the third aspect of the present disclosure, the device is positioned using at least one positioning method to obtain initial positioning information of the device as the The current positioning information, including:

Using the collected visual features to match with a preset visual map to determine the second positioning information of the device;

At the position corresponding to the second positioning information, the device is positioned by matching the laser positioning information with a preset laser map, so as to determine the initial positioning information of the device.

With reference to the second implementation manner of the third aspect, in a third implementation manner of the third aspect of the present disclosure, the device is positioned using at least one positioning method to obtain initial positioning information of the device as the The current positioning information, including:

According to the failure to collect the visual positioning feature, the device is instructed to use the local laser map generated according to the laser positioning information of the device to move until the visual positioning feature is collected.

In conjunction with the third aspect, in a fourth implementation manner of the third aspect, the present disclosure further includes:

According to determining that the current positioning information of the device is invalid, receive the external positioning information of the device;

The external positioning information of the device is optimized using at least one positioning method to relocate the device.

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

a first determining module, configured to determine whether the current positioning information of the device is valid according to at least one positioning evaluation information used to determine the validity of the positioning information;

A second determining module, configured to determine that the current positioning information of the device is invalid according to the first determining module, and to determine the first positioning information of the device by matching the collected visual features with a preset visual map;

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

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

Determine whether the current positioning information of the device is valid according to at least one positioning evaluation information used to determine the validity of the positioning information;

According to determining that the current positioning information of the device is valid, the device is navigated by using the current positioning information.

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

Obtain the first positioning information of the device;

determining that the first positioning information satisfies a preset condition;

The device is repositioned by using the visual matching positioning method and the laser matching positioning method.

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

Laser matching evaluation information, speed detection evaluation information, map matching evaluation information, historical positioning evaluation information, and visual loopback detection evaluation information.

In conjunction with the sixth aspect, in a second implementation manner of the sixth aspect of the present disclosure, the device is repositioned by using a visual matching positioning method and a laser matching positioning method, including:

Matching the collected visual features with a preset visual map to obtain the second positioning information of the device;

At the position corresponding to the second positioning information, the device is repositioned by matching the laser positioning information 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 used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the first aspect, the first implementation manner to the ninth implementation of the first aspect Any one of the manner, the third aspect, the first implementation manner of the third aspect to the fourth implementation manner, the fifth aspect, the sixth aspect, the first implementation manner and the second implementation manner of the sixth aspect Methods.

In an eighth aspect, an embodiment of the present disclosure provides a readable storage medium on which computer instructions are stored, and when the computer instructions are executed by a processor, implement the first aspect, the first implementation manner of the first aspect to the sixth aspect Any of nine implementation manners, the third aspect, the first implementation manner of the third aspect to the fourth implementation manner, the fifth aspect, the sixth aspect, the first implementation manner of the sixth aspect, and the second implementation manner method described in item.

The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

According to the technical solutions provided by the embodiments of the present disclosure, whether the current positioning information of the device is valid is determined according to at least one positioning evaluation information used to determine the validity of the positioning information; according to the determination that the current positioning information of the device is invalid, at least one The positioning method is used to relocate the device. When the device is in a situation of environmental changes or surrounded by people, it can be determined whether the device positioning is valid through the evaluation results in at least one positioning evaluation information, so as to determine the device positioning. Reposition when invalid. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

According to the technical solutions provided by the embodiments of the present disclosure, determining whether the current positioning information of the device is valid according to the at least one positioning evaluation information used to determine the validity of the positioning information includes: according to the at least one positioning evaluation information on the The evaluation result of whether the current positioning information of the device complies with the specific preset positioning conditions, and whether the current positioning information of the device is valid is determined. The evaluation result in the evaluation information determines whether the device positioning is valid, so that re-positioning is performed when it is determined that the device positioning is invalid. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

According to the technical solutions provided by the embodiments 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, and visual loopback detection evaluation information. When positioning is performed under the condition of changing or being surrounded by people, it is judged whether the device positioning is valid according to the evaluation result in at least one positioning evaluation information, so that re-positioning is carried out when it is judged that the device positioning is invalid. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

According to the technical solutions provided by the embodiments of the present disclosure, using at least one positioning method to relocate the device according to determining that the current positioning information of the device is invalid includes: according to determining that the current positioning information of the device is invalid, using The visual matching positioning method and the laser matching positioning method relocate the device. When the device is in a situation of environmental changes or surrounded by people, it can be determined whether the device is positioned by the evaluation result in at least one positioning evaluation information. is valid, so that re-positioning is performed when it is judged that the device positioning is invalid. Moreover, by combining the visual positioning method and the laser positioning method, the advantages of the stable visual positioning method, the accurate laser positioning method and the fast calculation speed are utilized to ensure the effectiveness and accuracy of the repositioning. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the accuracy and speed of positioning, so that the device can be used in business scenarios for a long time without being disturbed by various external environments interrupt.

According to the technical solutions provided by the embodiments of the present disclosure, by determining that the current positioning information of the device is invalid, repositioning the device by using the visual matching positioning method and the laser matching positioning method includes: determining the device according to the positioning method. The current positioning information is invalid, and the collected visual features are matched with the preset visual map to determine the first positioning information of the device; at the position corresponding to the first positioning information, the laser positioning information and the preset laser map are used to determine the first positioning information. Matching is performed to relocate the device, and when the device is in a situation of environmental changes or surrounded by people, it can be determined whether the device location is valid through the evaluation result in at least one location evaluation information, so as to determine whether the device location is valid. Repositioning is performed when the positioning is invalid. Moreover, by combining the visual positioning method and the laser positioning method, the advantages of the stable visual positioning method, the accurate laser positioning method and the fast calculation speed are utilized to ensure the effectiveness and accuracy of the repositioning. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the accuracy and speed of positioning, so that the device can be used in business scenarios for a long time without being disturbed by various external environments interrupt.

According to the technical solutions provided by the embodiments of the present disclosure, by using at least one positioning method to relocate the device according to determining that the current positioning information of the device is invalid, the device includes: receiving, according to determining that the current positioning information of the device is invalid, receiving The external positioning information of the device; the external positioning information of the device is optimized by at least one positioning method to relocate the device, and the positioning can be carried out when the device is in a changing environment or surrounded by people When the device positioning is determined, whether the device positioning is valid or not is determined through the evaluation result in at least one positioning evaluation information, so that re-positioning is performed when it is determined that the device positioning is invalid. Moreover, relocation is performed by optimizing for location information obtained from the outside, which ensures the speed of relocation. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the positioning speed of the positioning, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

According to the technical solutions provided by the embodiments of the present disclosure, by locating the device by using at least one positioning method to obtain the initial positioning information of the device as the current positioning information, the device can use at least one positioning method to achieve rapid Positioning, which effectively solves the problem that the device needs to be positioned when it is started at any location. At the same time, when the device fails and needs to be restarted, it can also be quickly located after the restart to avoid manual intervention. Moreover, when the device is positioned in a changing environment or surrounded by people, it can be determined whether the device positioning is valid through at least one evaluation result in the positioning evaluation information, so that re-positioning can be performed when it is determined that the device positioning is invalid. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

According to the technical solutions provided by the embodiments of the present disclosure, obtaining the initial positioning information of the device as the current positioning information by locating the device using at least one positioning method includes: using the collected visual features and The preset visual map is matched to determine the second positioning information of the device; at the position corresponding to the second positioning information, the device is located by matching the laser positioning information with the preset laser map to determine The initial positioning information of the device enables the device to achieve rapid positioning by using the visual positioning method and the laser positioning method, which effectively solves the problem that the device needs to be positioned when it is started at any position. Moreover, by combining the visual positioning method and the laser positioning method, the advantages of the stable visual positioning method, the accurate laser positioning method and the fast calculation speed are utilized to ensure the effectiveness and accuracy of the initial positioning. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the accuracy and speed of positioning, so that the device can be used in business scenarios for a long time without being disturbed by various external environments interrupt.

According to the technical solutions provided by the embodiments of the present disclosure, obtaining the initial positioning information of the device as the current positioning information by locating the device by using at least one positioning method includes: according to the fact that the visual positioning feature cannot be collected , instructing the device to use the local laser map generated according to the laser positioning information of the device to move until the visual positioning feature is collected, so that the device can autonomously generate the local laser map according to the surrounding laser positioning information to avoid obstacles in a small area Therefore, the visual positioning information is used to achieve rapid positioning, which effectively solves the problem that the device needs to be positioned when it is started at any position. Moreover, by combining the visual positioning method and the laser positioning method, the advantages of the stable visual positioning method, the accurate laser positioning method and the fast calculation speed are utilized to ensure the effectiveness and accuracy of the initial positioning. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the accuracy and speed of positioning, so that the device can be used in business scenarios for a long time without being disturbed by various external environments interrupt.

According to the technical solutions provided by the embodiments of the present disclosure, by determining that the current positioning information of the device is valid, and navigating the device by using the current positioning information, it is possible to perform positioning in various situations, through at least one positioning evaluation The evaluation result in the information determines whether the device positioning is valid, so that the device can be navigated when it is determined that the device positioning is valid. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

According to the technical solutions provided by the embodiments of the present disclosure, whether the current positioning information of the device is valid is determined according to at least one positioning evaluation information used to determine the validity of the positioning information; according to the determination that the current positioning information of the device is invalid, the collected The visual feature is matched with a preset visual map to determine the first positioning information of the device; at the position corresponding to the first positioning information, the device is re-configured by matching the laser positioning information with the preset laser map. For positioning, when the device is in a changing environment or surrounded by people, it can be determined whether the device positioning is valid through the evaluation result in at least one positioning evaluation information, so that the device can be relocated when it is judged that the device positioning is invalid. Moreover, by combining the visual positioning method and the laser positioning method, the advantages of the stable visual positioning method, the accurate laser positioning method and the fast calculation speed are utilized to ensure the effectiveness and accuracy of the repositioning. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the accuracy and speed of positioning, so that the device can be used in business scenarios for a long time without being disturbed by various external environments interrupt.

According to the technical solutions provided by the embodiments of the present disclosure, by locating the device by using at least one positioning method to obtain the initial positioning information of the device as the current positioning information, the device can use at least one positioning method to achieve rapid Positioning, which effectively solves the problem that the device needs to be positioned when it is started at any location. At the same time, when the device fails and needs to be restarted, it can also be quickly located after the restart to avoid manual intervention. Moreover, when the device is in a situation of changing environment or being surrounded by people, it can be determined whether the device positioning is valid through the evaluation result in at least one positioning evaluation information, so that the device positioning can be relocated when it is determined that the device positioning is invalid. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

According to the technical solutions provided by the embodiments of the present disclosure, obtaining the initial positioning information of the device as the current positioning information by locating the device using at least one positioning method includes: using the collected visual features and The preset visual map is matched to determine the second positioning information of the device; at the position corresponding to the second positioning information, the device is located by matching the laser positioning information with the preset laser map to determine The initial positioning information of the device enables the device to achieve rapid positioning by using the visual positioning method and the laser positioning method, which effectively solves the problem that the device needs to be positioned when it is started at any position. Moreover, by combining the visual positioning method and the laser positioning method, the advantages of the stable visual positioning method, the accurate laser positioning method and the fast calculation speed are utilized to ensure the effectiveness and accuracy of the initial positioning. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the accuracy and speed of positioning, so that the device can be used in business scenarios for a long time without being disturbed by various external environments interrupt.

According to the technical solutions provided by the embodiments of the present disclosure, obtaining the initial positioning information of the device as the current positioning information by locating the device by using at least one positioning method includes: according to the fact that the visual positioning feature cannot be collected , instructing the device to use the local laser map generated according to the laser positioning information of the device to move until the visual positioning feature is collected, so that the device can autonomously generate the local laser map according to the surrounding laser positioning information to avoid obstacles in a small area Therefore, the visual positioning information is used to achieve rapid positioning, which effectively solves the problem that the device needs to be positioned when it is started at any position. Moreover, by combining the visual positioning method and the laser positioning method, the advantages of the stable visual positioning method, the accurate laser positioning method and the fast calculation speed are utilized to ensure the effectiveness and accuracy of the initial positioning. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the accuracy and speed of positioning, so that the device can be used in business scenarios for a long time without being disturbed by various external environments interrupt.

According to the technical solutions provided by the embodiments of the present disclosure, the external positioning information of the device is received by determining that the current positioning information of the device is invalid; the external positioning information of the device is optimized by using at least one positioning method to When the device is relocated, it can be determined whether the device location is valid through the evaluation result in at least one location evaluation information when the device is in a situation of environmental changes or surrounded by people, so that the device can be relocated when it is judged that the device location is invalid. position. Moreover, relocation is performed by optimizing for location information obtained from the outside, which ensures the speed of relocation. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the positioning speed of the positioning, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

According to the technical solutions provided by the embodiments of the present disclosure, whether the current positioning information of the device is valid is determined according to at least one positioning evaluation information used to determine the validity of the positioning information; according to determining that the current positioning information of the device is valid, use the current positioning information The positioning information is used for navigating the device, and during positioning in various situations, it is possible to determine whether the device positioning is valid through at least one evaluation result in the positioning evaluation information, so as to navigate the device when it is judged that the device positioning is valid. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

According to the technical solutions provided by the embodiments of the present disclosure, by acquiring the first positioning information of the device; determining that the first positioning information satisfies a preset condition; and repositioning the device by using the visual matching positioning method and the laser matching positioning method, When the device is in a situation of changing environment or being surrounded by people, the device can be relocated by using the visual matching positioning method and the laser matching positioning method by determining that the first positioning information satisfies the preset condition. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

According to the technical solutions provided by the embodiments of the present disclosure, 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 loopback detection. The evaluation information can be used to relocate the device by using the visual matching positioning method and the laser matching positioning method by determining that the first positioning information satisfies the preset conditions when the device is in a situation of environmental changes or surrounded by people. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

According to the technical solutions provided by the embodiments of the present disclosure, repositioning the device by using the visual matching positioning method and the laser matching positioning method includes: matching the collected visual features with a preset visual map, and obtaining the information of the device. second positioning information; at the position corresponding to the second positioning information, the device is relocated by matching the laser positioning information with the preset laser map, which can be used when the device is in a changing environment or surrounded by people. In the case of positioning, by determining that the first positioning information satisfies a preset condition, the device is repositioned by using a visual matching positioning method and a laser matching positioning method. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

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

Description of drawings

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

FIG. 1 shows a flowchart of a device positioning method according to an embodiment of the present disclosure;

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

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

4 shows a flowchart of a device positioning method according to another embodiment of the present disclosure;

5 shows a flowchart of an example of step S410 in the device positioning method according to another embodiment of the present disclosure;

6 shows a schematic flowchart of an application scenario of a device positioning method according to an embodiment of the present disclosure;

7 shows a structural block diagram of a device positioning apparatus according to an embodiment of the present disclosure;

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

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

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

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

12 shows a flowchart of a device positioning method according to yet another embodiment of the present disclosure;

13 shows a flowchart of a device positioning method according to yet another embodiment of the present disclosure;

14 shows a flowchart of an example of step S1310 in the device positioning method according to still another embodiment of the present disclosure;

15 shows a flowchart of a device positioning method according to yet another embodiment of the present disclosure;

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

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

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

FIG. 19 is a schematic structural diagram of a computer system suitable for implementing a device positioning method according to an embodiment of the present disclosure.

Detailed ways

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 unrelated to describing the exemplary embodiments are omitted from the drawings.

In the present disclosure, it should be understood that terms such as "comprising" or "having" are intended to indicate the presence of labels, numbers, steps, acts, components, parts, or combinations thereof disclosed in this specification, and are not intended to exclude a or multiple other labels, numbers, steps, acts, parts, sections, or combinations thereof may exist or be added.

In addition, it should be noted that the embodiments in the present disclosure and the tags in the embodiments may be combined with each other under the condition of no conflict. The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

According to the technical solutions provided by the embodiments of the present disclosure, whether the current positioning information of the device is valid is determined according to at least one positioning evaluation information used to determine the validity of the positioning information; according to the determination that the current positioning information of the device is invalid, at least one The positioning method is used to relocate the device. When the device is in a situation of environmental changes or surrounded by people, it can be determined whether the device positioning is valid through the evaluation results in at least one positioning evaluation information, so as to determine the device positioning. Reposition when invalid. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

FIG. 1 shows a flowchart of a device positioning method according to an embodiment of the present disclosure. As shown in FIG. 1, the device positioning method includes the following steps S110, S120 and S130:

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

In step S120, according to the determination that the current positioning information of the device is invalid (the evaluation result of step S110 is NO), the device is relocated by using at least one positioning method.

In the embodiments of the present disclosure, a device may refer to a device with mobile capability, for example, a sweeping robot, an unmanned truck, an unmanned car, an unmanned aerial vehicle, and the like. In embodiments of the present disclosure, a device may also refer to any manned device, eg, a remote-controlled vehicle, a remote-controlled toy, a manned vehicle, and the like.

In the embodiment of the present disclosure, locating the device refers to determining the pose of the device, and the positioning information of the device may refer to the pose information of the device. The current positioning information of the device may refer to the real-time pose information of the device or the pose information within a preset time range from the real-time time point. In the 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 well-known concept in the related technical field, which is not described in detail in the present disclosure.

In the embodiment of the present disclosure, the positioning evaluation information is used to determine the validity of the positioning information. Specifically, the positioning evaluation information can be used to make a reasonable judgment and early warning on 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 in the present disclosure.

In an 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, and visual loopback detection evaluation information.

According to the technical solutions provided by the embodiments of the present disclosure, through at least one positioning evaluation information including laser matching evaluation information, speed detection evaluation information, map matching evaluation information, historical positioning evaluation information, and visual loopback detection evaluation information, it can be used when the device is in an environmental change or When positioning is performed under the circumstance of being surrounded by people, it is judged whether the device positioning is valid according to the evaluation result in at least one positioning evaluation information, so that re-positioning is carried out when it is judged that the device positioning is invalid. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

In an embodiment of the present disclosure, the laser matching evaluation information may record the accuracy of the current positioning information (current pose information) of the device determined by using the matching degree between the laser positioning data and the preset map. For example, when the matching degree between the laser positioning data and the preset map does not meet the preset matching conditions, it is considered that the accuracy of the current positioning information is not good, that is, the positioning fails.

In an embodiment of the present disclosure, the method of calculating the matching degree between the laser positioning data and the preset map may be that every time the current positioning information is acquired, the laser corresponding to the positioning information will be mapped to the preset map. map, and calculate how well the laser positioning data matches the preset map. This matching degree can be calculated in various ways. For example, the average distance from the point mapped by each laser positioning data to the nearest obstacle on the preset map can be calculated. Theoretically, when the laser positioning data is matched with the preset map, the average value of this distance should be 0 or minimum. In one embodiment of the present disclosure, when it is determined that the matching degree between the laser positioning data and the preset map does not meet the preset matching condition (the average distance between the point mapped by each laser positioning data and the nearest obstacle on the preset map is not equal to is 0 or greater than the preset distance threshold), it can be determined that the positioning information of the device is invalid, that is, the positioning fails.

In an embodiment of the present disclosure, the speed detection evaluation information may be recorded by comparing the device speed information in the current positioning information with the speed information provided by the device's own speed sensor (for example, the wheel speedometer of the device chassis), and determine accuracy of the current device location information. For example, if the speed information of the device in the current positioning information does not match the speed information of the speed sensor of the device itself, it can be determined that the positioning information of the device is invalid, that is, the positioning fails.

In an embodiment of the present disclosure, the map matching evaluation information may record whether the device appears in a position that should not appear on the preset map by using positioning data provided by the device's own sensor or positioning data received from outside. For example, laser positioning data can be used to determine whether the device appears outside the preset map, or appears in an area that should not appear, such as a column on the preset map, if it appears in a location that should not appear on the preset map , it is determined that the current positioning information is invalid, that is, the positioning fails. It can be understood that the use of laser positioning data in the map matching evaluation information to determine whether the device appears in a location that should not appear on the preset map is only an example, and other positioning methods (for example, infrared positioning, ultrasonic positioning, etc.) can be used to determine whether the device is Appears where it shouldn't be on the default map.

In an embodiment of the present disclosure, the historical positioning evaluation information may record the accuracy of the current positioning information of the device determined by using the historical information of previous positioning (historical positioning information). For example, use the historical information of previous positioning plus the predicted positioning information of its own speed sensor (for example, the wheel speedometer of the equipment chassis) to compare with the current positioning information of the equipment determined after the multi-sensor fusion (of the equipment), and judge the equipment's positioning information. The accuracy of the current location information. For example, if the difference between the current positioning information of the device and the historical information of the device positioning is too large within a certain period of time, it is determined that the current positioning information of the device is invalid, that is, the positioning fails.

In one embodiment of the present disclosure, the visual loop closure detection evaluation information may record the accuracy of the current positioning information of the visual loop closure detection device. For example, the current positioning information calculated by the visual loopback is compared with the device pose determined after multi-sensor fusion to judge the accuracy of the current positioning information of the device. If it is determined that the difference between the current positioning information calculated through the visual loopback and the device pose determined after multi-sensor fusion is too large, it is determined that the current positioning information of the device is invalid, that is, the positioning fails. In one embodiment of the present disclosure, visual loop closure detection may refer to establishing a pose constraint relationship between the current frame and a previous frame. The visual loopback plays a role in reducing the cumulative error by reducing the number of constraints. The specific implementation of the visual loop closure detection can be obtained from the related art, which will not be described in detail in this disclosure.

In an embodiment of the present disclosure, step S110 includes: determining whether the current positioning information of the device is valid according to an evaluation result of whether the current positioning information of the device meets a specific preset positioning condition in at least one positioning evaluation information.

According to the technical solutions provided by the embodiments of the present disclosure, determining whether the current positioning information of the device is valid according to at least one positioning evaluation information used to determine the validity of the positioning information includes: according to the current positioning of the device in the at least one positioning evaluation information Whether the information conforms to the evaluation result of a specific preset positioning condition, to determine whether the current positioning information of the device is valid, can be located when the device is in a situation of environmental changes or surrounded by people, through at least one of the evaluation results in the positioning evaluation information It is judged whether the device positioning is valid, so as to perform re-positioning when it is judged that the device positioning is invalid. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

In an embodiment of the present disclosure, when there is only one positioning evaluation information, whether the current positioning information of the device is valid can be determined according to the positioning evaluation information.

In an embodiment of the present disclosure, when there are multiple positioning evaluation information, whether the current positioning information is valid may be determined in various ways. For example, in an evaluation method, among the multiple positioning evaluation information, as long as one of the positioning evaluation information records that the current positioning information of the device is invalid, it is determined that the current positioning information of the device is invalid. For example, in another evaluation method, among the plurality of positioning evaluation information, as long as more than half of the positioning evaluation information records that the current positioning information of the device is valid, it is determined that the current positioning information of the device is valid. For example, in another evaluation method, among the multiple positioning evaluation information, if one or several specific positioning evaluation information records the current positioning information of the device is invalid, it is determined that the current positioning information of the device is invalid. For example, in another evaluation method, among the multiple positioning evaluation information, if one or several specific positioning evaluation information records the current positioning information of the device is valid, it is determined that the current positioning information of the device is valid.

In an embodiment of the present disclosure, when there are multiple positioning evaluation information, the evaluation results of the multiple positioning evaluation information for the same current positioning information may be different. According to the actual situation, different ways can be used to determine whether the current positioning information of the device is valid by using the positioning evaluation information.

In an embodiment of the present disclosure, step S120 includes: according to determining that the current positioning information of the device is invalid, repositioning the device by using a visual matching positioning method and a laser matching positioning method.

According to the technical solutions provided by the embodiments of the present disclosure, by determining that the current positioning information of the device is invalid, the device is relocated by using at least one positioning method, including: according to determining that the current positioning information of the device is invalid, using a visual matching positioning method and a laser The device can be relocated by matching the positioning method. When the device is in a situation of environmental changes or surrounded by people, it can be determined whether the device positioning is valid through the evaluation results in at least one positioning evaluation information, so as to determine whether the device positioning is invalid. repositioning. Moreover, by combining the visual positioning method and the laser positioning method, the advantages of the stable visual positioning method, the accurate laser positioning method and the fast calculation speed are utilized to ensure the effectiveness and accuracy of the repositioning. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the accuracy and speed of positioning, so that the device can be used in business scenarios for a long time without being disturbed by various external environments interrupt.

In the embodiments of the present disclosure, there may be various positioning manners for repositioning the device.

In an embodiment of the present disclosure, a wheel speedometer positioning method, an Ultra WideBand (UWB) positioning method, a laser positioning method, a Bluetooth positioning method, a WIFI positioning method, a Zigbee positioning method, an RFID positioning method, an infrared positioning method, and an infrared positioning method may also be used. Part or all of the positioning method and the ultrasonic positioning method reposition the device.

In one embodiment of the present disclosure, when the device has a wheeled mobile chassis, the wheel speedometer positioning method refers to relocating the device using wheel speedometer positioning data from the wheeled mobile chassis of the device.

In the embodiments of the present disclosure, the ultra-wideband positioning technology is a technology that uses radio waves with a wider frequency band for communication or positioning. This technology has the advantages of high speed, low cost and low power consumption. The specific implementation manner thereof can be known from the relevant technical fields, which will not be described in detail in the present disclosure.

In the embodiment of the present disclosure, the laser positioning technology can realize non-contact long-distance measurement, and has high speed, high precision, large measuring range, strong anti-light and electrical interference capabilities, and the like. The specific implementation manner thereof can be known from the relevant technical fields, which will not be described in detail in the present disclosure.

In the embodiment of the present disclosure, the Bluetooth positioning technology is a positioning technology that utilizes Bluetooth wireless signals and is based on the RSSI (Received Signal Strength Indication, received signal strength indication) positioning principle. Bluetooth positioning technology can be divided into network-side positioning and terminal-side positioning according to different positioning terminals. The specific implementation manner thereof can be known from the relevant technical fields, which will not be described in detail in the present disclosure.

In the embodiments of the present disclosure, the WIFI positioning technology is a positioning technology using WIFI wireless signals, which may or may not be based on the RSSI positioning principle. The specific implementation manner thereof can be known from the relevant technical fields, which will not be described in detail in the present disclosure.

In the embodiment of the present disclosure, the Zigbee positioning technology is a positioning technology based on the IEEE802.15.4 technical standard and the Zigbee network protocol. The specific implementation manner thereof can be known from the relevant technical fields, which will not be described in detail in the present disclosure.

In the embodiment of the present disclosure, the RFID (Radio Frequency Identification, Radio Frequency Identification) positioning technology utilizes radio signals to obtain positioning information through identification and reading and writing in a non-contact mode. The specific implementation manner thereof can be known from the relevant technical fields, which will not be described in detail in the present disclosure.

In the embodiment of the present disclosure, the infrared positioning technology transmits infrared rays through the infrared emitting devices at the known nodes, and then receives these infrared signals at the optical sensors arranged at the nodes to be tested. After processing the infrared signals, the distance is calculated, So as to achieve the positioning effect. The specific implementation manner thereof can be known from the relevant technical fields, which will not be described in detail in the present disclosure.

In the embodiment of the present disclosure, the ultrasonic positioning technology utilizes the time difference between the transmission time of the transmitted ultrasonic wave and the transmission time of the return wave, and then calculates the distance according to the known propagation speed of the ultrasonic wave, so as to achieve the positioning effect. The specific implementation manner thereof can be known from the relevant technical fields, which will not be described in detail in the present disclosure.

Those skilled in the art can understand that the device can be relocated by using at least one of the above positioning techniques. In an embodiment of the present disclosure, the more multiple positioning technologies are used for positioning, the better the positioning effect is.

In step S130, it is determined that the current positioning information of the device is valid (the evaluation result of step S110 is yes), and the device is navigated by using the current positioning information.

According to the technical solutions provided by the embodiments of the present disclosure, by determining that the current positioning information of the device is valid, and navigating the device by using the current positioning information, it is possible to determine at least one evaluation result in the positioning evaluation information when positioning is performed under various circumstances. Whether the device positioning is valid, so that the device can be navigated when it is judged that the device positioning is valid. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

An example of step S120 in the device positioning 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 determination that the current positioning information of the device is invalid, the first positioning information of the device is determined by matching the collected visual features with a preset visual map.

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

According to the technical solutions provided by the embodiments of the present disclosure, by determining that the current positioning information of the device is invalid, using the visual matching positioning method and the laser matching positioning method to relocate the device, including: determining that the current positioning information of the device is invalid, using the collected The first positioning information of the device is determined by matching the visual features of the device with the preset visual map; at the position corresponding to the first positioning information, the device is relocated by matching the laser positioning information with the preset laser map, which can be used in the device. When positioning is performed under the circumstance of changing environment or being surrounded by people, it is judged whether the device positioning is valid according to the evaluation result in at least one positioning evaluation information, so that re-positioning is carried out when it is judged that the device positioning is invalid. Moreover, by combining the visual positioning method and the laser positioning method, the advantages of the stable visual positioning method, the accurate laser positioning method and the fast calculation speed are utilized to ensure the effectiveness and accuracy of the repositioning. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the accuracy and speed of positioning, so that the device can be used in business scenarios for a long time without being disturbed by various external environments interrupt.

In an embodiment of the present disclosure, during the movement of the device, the visual features collected by the camera can be recorded in real time, and the corresponding first positioning information can be obtained by matching the visual features with the visual map. Then, at this location, the device is relocated by matching the laser positioning information to a preset map. After that, the validity of the positioning information obtained by re-positioning is judged. When the judgment is passed, it is considered that the positioning information obtained by the repositioning is valid. In the business process of the device, if the positioning is invalid due to factors such as environmental changes or human obstruction, the current actual position of the device can be obtained by using the current information obtained from the device sensors and the previously recorded relocation positioning information.

Another example of step S120 in the device positioning 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, according to the determination that the current positioning information of the device is invalid, the external positioning information of the device is received.

In step S320, at least one positioning method is used to optimize the external positioning information of the device to relocate the device.

According to the technical solutions provided by the embodiments of the present disclosure, by determining that the current positioning information of the device is invalid, using at least one positioning method to relocate the device, including: receiving the external positioning information of the device according to determining that the current positioning information of the device is invalid; At least one positioning method is used to optimize the external positioning information of the device to relocate the device. When the device is in a situation of environmental changes or surrounded by people, the evaluation result in the at least one positioning evaluation information can be used for positioning. It is judged whether the device positioning is valid, so as to perform re-positioning when it is judged that the device positioning is invalid. Moreover, relocation is performed by optimizing for location information obtained from the outside, which ensures the speed of relocation. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the positioning speed of the positioning, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

In an embodiment of the present disclosure, a method of directly giving rough positioning information of a device through an external interface can be provided, and then a multi-sensor fusion scheme is used to optimize the positioning information obtained from the outside, so as to facilitate and quickly adjust the positioning results.

The following describes a device positioning method in another embodiment of the present disclosure with reference to FIG. 4 .

FIG. 4 shows a flowchart of a device positioning method according to another embodiment of the present disclosure. The difference between the embodiment shown in FIG. 4 and the embodiment shown in FIG. 1 is that step S410 is further included.

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

According to the technical solutions provided by the embodiments of the present disclosure, by using at least one positioning method to locate the device to obtain the initial positioning information of the device as the current positioning information, the device can use at least one positioning method to achieve rapid positioning, which effectively solves the problem of the device. The problem of needing to locate when starting at any location. At the same time, when the device fails and needs to be restarted, it can also be quickly located after the restart to avoid manual intervention. Moreover, when the device is positioned in a changing environment or surrounded by people, it can be determined whether the device positioning is valid through at least one evaluation result in the positioning evaluation information, so that re-positioning can be performed when it is determined that the device positioning is invalid. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

An example of step S410 in the device positioning method in FIG. 4 is described below with reference to FIG. 5 .

FIG. 5 shows a flowchart of an example of step S410 in the device positioning 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 second positioning information of the device is determined by matching the collected visual features with a preset visual map.

In step S520, at the position corresponding to the second positioning information, the device is positioned by matching the laser positioning information with the preset laser map to determine the initial positioning information of the device.

According to the technical solutions provided by the embodiments of the present disclosure, by using at least one positioning method to locate the device to obtain the initial positioning information of the device as the current positioning information, the method includes: matching the collected visual features with a preset visual map to determine The second positioning information of the device; at the position corresponding to the second positioning information, the device is positioned by matching the laser positioning information with the preset laser map to determine the initial positioning information of the device, so that the device can use the visual positioning method and The laser positioning method realizes rapid positioning, which effectively solves the problem that the equipment needs to be positioned when it is started at any position. Moreover, by combining the visual positioning method and the laser positioning method, the advantages of the stable visual positioning method, the accurate laser positioning method and the fast calculation speed are utilized to ensure the effectiveness and accuracy of the initial positioning. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the accuracy and speed of positioning, so that the device can be used in business scenarios for a long time without being disturbed by various external environments interrupt.

In an embodiment of the present disclosure, step S410 includes: according to the inability to collect the visual positioning feature, instructing the device to move using the local laser map generated according to the laser positioning information of the device until the visual positioning feature is collected.

According to the technical solutions provided by the embodiments of the present disclosure, the initial positioning information of the device is obtained by using at least one positioning method to locate the device as the current positioning information, including: according to the inability to collect the visual positioning feature, instructing the device to use the laser according to the device. The local laser map generated by the positioning information moves until the visual positioning features are collected, so that the device can autonomously generate a local laser map according to the surrounding laser positioning information to perform small-range movements with obstacle avoidance, so as to use the visual positioning information to achieve fast positioning, effectively Resolved an issue where the device needed to be positioned when it was started at any location. Moreover, by combining the visual positioning method and the laser positioning method, the advantages of the stable visual positioning method, the accurate laser positioning method and the fast calculation speed are utilized to ensure the effectiveness and accuracy of the initial positioning. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the accuracy and speed of positioning, so that the device can be used in business scenarios for a long time without being disturbed by various external environments interrupt.

In a traditional positioning method, the initial position information of the device needs to be given to confirm the initial position of the device, which is not flexible. In another traditional positioning method, by randomly predicting the position on the whole map and confirming the accuracy of the random position according to the actual observation, this method is computationally intensive and easily fails on maps with similar areas.

In an embodiment of the present disclosure, the device will automatically perform visual positioning when it is powered on. If the current position cannot obtain sufficient visual features, the device will perform small-scale movements with obstacle avoidance functions according to the local map obtained from the laser positioning information. And find effective visual features through the camera. Match visual features to visual maps. When the visual feature and the visual map are successfully matched, the laser positioning information is used to match the preset map. If the laser positioning information is successfully matched with the preset map, the laser positioning information can be used to calculate the pose of the device around the position determined according to the current positioning information, and the device can use this as the initial positioning for subsequent business processes.

The following describes an application scenario of the device positioning method according to an embodiment of the present disclosure with reference to FIG. 6 .

FIG. 6 shows a schematic flowchart of an application scenario of a device positioning method according to an embodiment of the present disclosure. In the scenario shown in FIG. 6 , the device positioning method according to an embodiment of the present disclosure is applied to robot positioning.

In the scene shown in Figure 6, the core sensors used by the robot positioning system include lidar and cameras. The robot positioning system may include a self-positioning module, a positioning evaluation module and a repositioning module.

1. Self-positioning module:

i. The traditional method requires given initial position information to confirm the initial position of the robot, which is not flexible. It is also possible to randomly predict the location on the entire map and confirm the accuracy of the random location based on actual observations. This method is computationally intensive and easily fails on maps with similar areas.

ii. Therefore, in the robot positioning system according to the embodiment of the present disclosure, the robot will automatically perform visual positioning when the robot is powered on. If the current position cannot obtain enough visual features, the robot will perform small-scale movements with obstacle avoidance function according to the local map obtained by the lidar, and find effective visual features through the camera. The visual features are matched with the visual map, and after the matching is successful, the laser radar is used to match the laser map. If the lidar is matched with the laser map, the pose of the robot can be calculated using the laser information around the calculated position. The robot can then use the calculated initial position to carry out subsequent business processes.

2. Positioning evaluation module:

Comprehensively use various effective information to make reasonable judgment and early warning for the situation of positioning failure.

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

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

iii. Map matching evaluation information. For example, the laser map positioning information can be used to determine whether the robot appears in a place where it should not appear. If the result of laser positioning is outside the map, or if there is an area where the robot is unlikely to appear such as a pillar on the map, it is determined that the positioning has failed.

iv. Historical positioning evaluation information. For example, the historical information of the previous positioning and the prediction of the wheel speedometer can be used to compare the robot position after multi-sensor fusion to judge the accuracy of the current robot pose.

v. Visual loop closure detection evaluation information. For example, the position calculated by visual loopback detection can be compared with the position of the robot after multi-sensor fusion to judge the accuracy of the current robot pose.

3. Relocation module

i. In this scenario, the robot will record the visual features collected by the camera in real time during the movement. By matching the visual features with the visual map, the corresponding pose information is obtained. After that, at this position, the laser positioning information can be matched with the laser map to judge the validity. When the validity judgment is passed, it is considered that the positioning information obtained after the repositioning is valid. In the business process of the robot, if the positioning fails due to factors such as environmental changes or human obstruction (judged by the positioning evaluation module), the current information obtained from the sensor and the previously recorded relocation information can be used to restore the robot's position. Current actual location.

ii. In some specific business processes, it is possible to provide a method of directly giving the rough positioning information of the robot through the external interface, and then optimize the positioning information through the multi-sensor fusion scheme to facilitate and quickly adjust the positioning results.

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

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

The determining module 710 is configured to determine whether the current positioning information of the device is valid according to at least one positioning evaluation information for determining the validity of the positioning information.

The relocation module 720 is configured to relocate the device using at least one positioning method according to the determination by the determining module that the current positioning information of the device is invalid.

According to the technical solutions provided by the embodiments of the present disclosure, the determining module is configured to determine whether the current positioning information of the device is valid according to at least one positioning evaluation information; the relocation module is configured to determine that the current positioning information of the device is invalid according to the determining module, Using at least one positioning method to relocate the device can determine whether the device positioning is valid through the evaluation result in at least one positioning evaluation information when the device is in a situation of environmental changes or surrounded by people. Relocate when device location is invalid. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

In an 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, and visual loopback detection evaluation information.

According to the technical solutions provided by the embodiments of the present disclosure, through at least one positioning evaluation information including laser matching evaluation information, speed detection evaluation information, map matching evaluation information, historical positioning evaluation information, and visual loopback detection evaluation information, it can be used when the device is in an environmental change or When positioning is performed under the circumstance of being surrounded by people, it is judged whether the device positioning is valid according to the evaluation result in at least one positioning evaluation information, so that re-positioning is carried out when it is judged that the device positioning is invalid. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

In an embodiment of the present disclosure, the determining module 710 is further configured to: determine whether the current positioning information of the device is valid according to an evaluation result of whether the current positioning information of the device meets a specific preset positioning condition in the at least one positioning evaluation information .

According to the technical solutions provided by the embodiments of the present disclosure, the determining module is further configured to: determine whether the current positioning information of the device is valid according to at least one positioning evaluation information for determining the validity of the positioning information, including: according to at least one positioning evaluation The evaluation result of whether the current positioning information of the device meets the specific preset positioning conditions in the information determines whether the current positioning information of the device is valid. When the device is in a situation of environmental changes or surrounded by people, it can be located by at least An evaluation result in the positioning evaluation information determines whether the device positioning is valid, so that re-positioning is performed when it is determined that the device positioning is invalid. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

In an embodiment of the present disclosure, the repositioning module 720 is further configured to: according to the determination module 710 determining that the current positioning information of the device is invalid, use the visual matching positioning method and the laser matching positioning method to reposition the device.

According to the technical solutions provided by the embodiments of the present disclosure, the repositioning module is further configured to: determine that the current positioning information of the device is invalid according to the determination module, and use the visual matching positioning method and the laser matching positioning method to reposition the device, which can be used when the device is in the position. When positioning is carried out under the circumstance of changing environment or being surrounded by people, it is judged whether the device positioning is valid according to the evaluation result in at least one positioning evaluation information, so that re-positioning is carried out when it is judged that the device positioning is invalid. Moreover, by combining the visual positioning method and the laser positioning method, the advantages of the stable visual positioning method, the accurate laser positioning method and the fast calculation speed are utilized to ensure the effectiveness and accuracy of the repositioning. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the accuracy and speed of positioning, so that the device can be used in business scenarios for a long time without being disturbed by various external environments interrupt.

The navigation module 730 is configured to determine that the current positioning information of the device is valid according to the determining module 710, and use the current positioning information to navigate the device.

According to the technical solutions provided by the embodiments of the present disclosure, the navigation module is configured to determine, according to the determination module, that the current positioning information of the device is valid, and to use the current positioning information to navigate the device. The evaluation result in the positioning evaluation information determines whether the device positioning is valid, so as to navigate the device when it is determined that the device positioning is valid. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

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

FIG. 8 shows a structural block diagram of an example of the relocation module 720 in the 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 that the current positioning information of the device is invalid according to the determining module 710, and to determine the first positioning information of the device by matching the collected visual features with a preset visual map.

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

According to the technical solutions provided by the embodiments of the present disclosure, the repositioning module includes: a first visual matching sub-module, configured to determine that the current positioning information of the device is invalid according to the determination module, and use the collected visual features to match the preset visual map to determine the first positioning information of the device; the first laser matching sub-module is configured to relocate the device by matching the laser positioning information with the preset laser map at the position corresponding to the first positioning information, and can be used in the device When positioning is performed under the circumstance of changing environment or being surrounded by people, it is judged whether the device positioning is valid according to the evaluation result in at least one positioning evaluation information, so that re-positioning is carried out when it is judged that the device positioning is invalid. Moreover, by combining the visual positioning method and the laser positioning method, the advantages of the stable visual positioning method, the accurate laser positioning method and the fast calculation speed are utilized to ensure the effectiveness and accuracy of the repositioning. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the accuracy and speed of positioning, so that the device can be used in business scenarios for a long time without being disturbed by various external environments interrupt.

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

FIG. 9 shows a structural block diagram of another example of the relocation module 720 in the 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 determine that the current positioning information of the device is invalid according to the determining module 710, and receive external positioning information of the device.

The second relocation sub-module 920 is configured to optimize the external positioning information of the device by using at least one positioning method to relocate the device.

According to the technical solutions provided by the embodiments of the present disclosure, the relocation module includes: a receiving submodule, configured to determine that the current location information of the device is invalid according to the determining module, and receive the external location information of the device; a second relocation submodule, which is configured to receive the external location information of the device; It is configured to optimize the external positioning information of the device by using at least one positioning method to relocate the device. When the device is in a situation of environmental changes or surrounded by people, the device can be positioned through at least one positioning evaluation information. The evaluation result judges whether the device positioning is valid, so that re-positioning is performed when the device positioning is judged to be invalid. Moreover, relocation is performed by optimizing for location information obtained from the outside, which ensures the speed of relocation. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the positioning speed of the positioning, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

The device positioning apparatus in another embodiment of the present disclosure will be described below with reference to FIG. 10 .

FIG. 10 shows a structural block diagram of a device locating apparatus 1000 according to another embodiment of the present disclosure. The difference between the embodiment shown in FIG. 10 and the embodiment shown in FIG. 7 is that an initial positioning module 1010 is further included.

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

According to the technical solutions provided by the embodiments of the present disclosure, the initial positioning module is configured to use at least one positioning method to locate the device to obtain the initial positioning information of the device as the current positioning information, so that the device can use at least one positioning method to achieve Fast positioning effectively solves the problem that the device needs to be positioned when it is started at any location. At the same time, when the device fails and needs to be restarted, it can also be quickly located after the restart to avoid manual intervention. Moreover, when the device is positioned in a changing environment or surrounded by people, it can be determined whether the device positioning is valid through at least one evaluation result in the positioning evaluation information, so that re-positioning can be performed when it is determined that the device positioning is invalid. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

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

FIG. 11 shows a structural 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 match the collected visual features with a preset visual map to determine the second positioning information of the device.

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

According to the technical solutions provided by the embodiments of the present disclosure, the initial positioning module includes: a second visual matching sub-module configured to match the collected visual features with a preset visual map to determine the second positioning information of the device; The laser matching sub-module is configured to locate the device by matching the laser positioning information with the preset laser map at the position corresponding to the second positioning information, so as to determine the initial positioning information of the device, so that the device can use the visual positioning method And laser positioning method to achieve rapid positioning, effectively solve the problem that the equipment needs to be positioned when it is started at any position. Moreover, by combining the visual positioning method and the laser positioning method, the advantages of the stable visual positioning method, the accurate laser positioning method and the fast calculation speed are utilized to ensure the effectiveness and accuracy of the initial positioning. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the accuracy and speed of positioning, so that the device can be used in business scenarios for a long time without being disturbed by various external environments interrupt.

In an embodiment of the present disclosure, the initial positioning module 1010 is further configured to: according to the failure to collect the visual positioning feature, instruct the device to move using the local laser map generated according to the laser positioning information of the device until the visual positioning feature is collected.

According to the technical solutions provided by the embodiments of the present disclosure, the initial positioning module is further configured to: according to the inability to collect the visual positioning feature, the pointing device uses the local laser map generated according to the laser positioning information of the device to move until the visual positioning feature is collected, so that The device can autonomously generate a local laser map based on the surrounding laser positioning information to perform small-range motion with obstacle avoidance, so as to use visual positioning information to achieve rapid positioning, effectively solving the problem that the device needs to be positioned when it starts at any position. Moreover, by combining the visual positioning method and the laser positioning method, the advantages of the stable visual positioning method, the accurate laser positioning method and the fast calculation speed are utilized to ensure the effectiveness and accuracy of the initial positioning. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the accuracy and speed of positioning, so that the device can be used in business scenarios for a long time without being disturbed by various external environments interrupt.

Those skilled in the art can understand that the technical solutions described with reference to FIGS. 7 to 11 can be combined with the embodiments described with reference to FIGS. 1 to 6 , so as to have the technical effects achieved by the embodiments described with reference to FIGS. 1 to 6 . For specific content, reference may be made to the above description according to FIG. 1 to FIG. 6 , and the specific content is not repeated here.

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

FIG. 12 shows a flowchart of a device positioning method according to yet another embodiment of the present disclosure. As shown in Figure 12, the device positioning method includes the following steps S1210, S1220 and S1230:

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

In step S1220, according to determining that the current positioning information of the device is invalid, the first positioning information of the device is determined by matching the collected visual features with a preset visual map.

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

According to the technical solutions provided by the embodiments of the present disclosure, whether the current positioning information of the device is valid is determined according to at least one positioning evaluation information used to determine the validity of the positioning information; according to the determination that the current positioning information of the device is invalid, the collected The visual feature is matched with a preset visual map to determine the first positioning information of the device; at the position corresponding to the first positioning information, the device is re-configured by matching the laser positioning information with the preset laser map. For positioning, when the device is in a changing environment or surrounded by people, it can be determined whether the device positioning is valid through the evaluation result in at least one positioning evaluation information, so that the device can be relocated when it is judged that the device positioning is invalid. Moreover, by combining the visual positioning method and the laser positioning method, the advantages of the stable visual positioning method, the accurate laser positioning method and the fast calculation speed are utilized to ensure the effectiveness and accuracy of the repositioning. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the accuracy and speed of positioning, so that the device can be used in business scenarios for a long time without being disturbed by various external environments interrupt.

The following describes a device positioning method according to yet another embodiment of the present disclosure with reference to FIG. 13 .

FIG. 13 shows a flowchart of a device positioning method according to yet another embodiment of the present disclosure. The difference between the embodiment shown in FIG. 13 and the embodiment shown in FIG. 12 is that step S1310 is further included.

In step S1310, at least one positioning method is used to locate the device to obtain initial positioning information of the device as the current positioning information.

According to the technical solutions provided by the embodiments of the present disclosure, obtaining the initial positioning information of the device as the current positioning information by locating the device by using at least one positioning method includes: according to the fact that the visual positioning feature cannot be collected , instructing the device to use the local laser map generated according to the laser positioning information of the device to move until the visual positioning feature is collected, so that the device can autonomously generate the local laser map according to the surrounding laser positioning information to avoid obstacles in a small area Therefore, the visual positioning information is used to achieve rapid positioning, which effectively solves the problem that the device needs to be positioned when it is started at any position. Moreover, by combining the visual positioning method and the laser positioning method, the advantages of the stable visual positioning method, the accurate laser positioning method and the fast calculation speed are utilized to ensure the effectiveness and accuracy of the initial positioning. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the accuracy and speed of positioning, so that the device can be used in business scenarios for a long time without being disturbed by various external environments interrupt.

An example of step S1310 shown in FIG. 13 is described below with reference to FIG. 14 .

FIG. 14 shows a flowchart of an 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, the second positioning information of the device is determined by matching the collected visual features with a preset visual map.

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

According to the technical solutions provided by the embodiments of the present disclosure, obtaining the initial positioning information of the device as the current positioning information by locating the device using at least one positioning method includes: using the collected visual features and The preset visual map is matched to determine the second positioning information of the device; at the position corresponding to the second positioning information, the device is located by matching the laser positioning information with the preset laser map to determine The initial positioning information of the device enables the device to achieve rapid positioning by using the visual positioning method and the laser positioning method, which effectively solves the problem that the device needs to be positioned when it is started at any position. Moreover, by combining the visual positioning method and the laser positioning method, the advantages of the stable visual positioning method, the accurate laser positioning method and the fast calculation speed are utilized to ensure the effectiveness and accuracy of the initial positioning. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the accuracy and speed of positioning, so that the device can be used in business scenarios for a long time without being disturbed by various external environments interrupt.

In an embodiment of the present disclosure, step S1310 includes: according to the failure to collect the visual positioning feature, instructing the device to use the local laser map generated according to the laser positioning information of the device to move until the visual positioning feature is collected.

According to the technical solutions provided by the embodiments of the present disclosure, obtaining the initial positioning information of the device as the current positioning information by locating the device using at least one positioning method includes: using the collected visual features and The preset visual map is matched to determine the second positioning information of the device; at the position corresponding to the second positioning information, the device is located by matching the laser positioning information with the preset laser map to determine The initial positioning information of the device enables the device to achieve rapid positioning by using the visual positioning method and the laser positioning method, which effectively solves the problem that the device needs to be positioned when it is started at any position. Moreover, by combining the visual positioning method and the laser positioning method, the advantages of the stable visual positioning method, the accurate laser positioning method and the fast calculation speed are utilized to ensure the effectiveness and accuracy of the initial positioning. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the accuracy and speed of positioning, so that the device can be used in business scenarios for a long time without being disturbed by various external environments interrupt.

The following describes a device positioning method according to yet another embodiment of the present disclosure with reference to FIG. 15 .

FIG. 15 shows a flowchart of a device positioning method according to yet another embodiment of the present disclosure. The difference between the embodiment shown in FIG. 15 and the embodiment shown in FIG. 12 is that steps S1510 and S1520 are further included.

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

In step S1520, at least one positioning method is used to optimize the external positioning information of the device to relocate the device.

According to the technical solutions provided by the embodiments of the present disclosure, the external positioning information of the device is received by determining that the current positioning information of the device is invalid; the external positioning information of the device is optimized by using at least one positioning method to When the device is relocated, it can be determined whether the device location is valid through the evaluation result in at least one location evaluation information when the device is in a situation of environmental changes or surrounded by people, so that the device can be relocated when it is judged that the device location is invalid. position. Moreover, relocation is performed by optimizing for location information obtained from the outside, which ensures the speed of relocation. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the positioning speed of the positioning, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

Those skilled in the art can understand that the technical solutions described with reference to FIGS. 12 to 15 can be combined with the embodiments described with reference to FIGS. 1 to 11 , so as to have the technical effects achieved by the embodiments described with reference to FIGS. 1 to 11 . For specific content, reference may be made to the above description according to FIG. 1 to FIG. 11 , and the specific content will not be repeated here.

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

FIG. 16 shows a structural block diagram of a device locating apparatus 1600 according to yet another embodiment of the present disclosure. The embodiment shown in FIG. 16 includes a first determination module 1610 , a second determination module 1620 and a relocation module 1630 .

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

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

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

According to the technical solutions provided by the embodiments of the present disclosure, the first determination module is configured to determine whether the current positioning information of the device is valid according to at least one positioning evaluation information used to determine the validity of the positioning information; the second determination module is configured to In order to determine that the current positioning information of the device is invalid according to the first determination module, the first positioning information of the device is determined by matching the collected visual features with the preset visual map; the relocation module is configured to The position corresponding to the first positioning information is used to reposition the device by matching the laser positioning information with the preset laser map, so that the device can be positioned when the environment changes or is surrounded by people. Whether the device positioning is valid is judged according to the evaluation result in at least one piece of positioning evaluation information, so that when it is judged that the device positioning is invalid, re-positioning is performed. Moreover, by combining the visual positioning method and the laser positioning method, the advantages of the stable visual positioning method, the accurate laser positioning method and the fast calculation speed are utilized to ensure the effectiveness and accuracy of the repositioning. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device while ensuring the accuracy and speed of positioning, so that the device can be used in business scenarios for a long time without being disturbed by various external environments interrupt.

Those skilled in the art can understand that the technical solutions described with reference to FIG. 16 can be combined with the embodiments described with reference to FIGS. 1 to 15 , thereby having the technical effects achieved by the embodiments described with reference to FIGS. 1 to 15 . For specific content, reference may be made to the above description according to FIG. 1 to FIG. 15 , and the specific content will not be repeated here.

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

FIG. 17 shows a flowchart 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 positioning information of the device is valid according to at least one positioning evaluation information for determining the validity of the positioning information.

In step S1720, according to determining that the current positioning information of the device is valid, the device is navigated by using the current positioning information.

According to the technical solutions provided by the embodiments of the present disclosure, whether the current positioning information of the device is valid is determined according to at least one positioning evaluation information used to determine the validity of the positioning information; according to determining that the current positioning information of the device is valid, use the current positioning information The positioning information is used for navigating the device, and during positioning in various situations, it is possible to determine whether the device positioning is valid through at least one evaluation result in the positioning evaluation information, so as to navigate the device when it is judged that the device positioning is valid. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

Those skilled in the art can understand that the technical solutions described with reference to FIG. 17 can be combined with the embodiments described with reference to FIGS. 1 to 16 , so as to have the technical effects achieved by the embodiments described with reference to FIGS. 1 to 16 . For specific content, reference may be made to the above description according to FIG. 1 to FIG. 16 , and the specific content will not be repeated here.

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

Obtain the first positioning information of the device;

determining that the first positioning information satisfies a preset condition;

The device is repositioned by using the visual matching positioning method and the laser matching positioning method.

In the embodiment of the present disclosure, the first positioning information is used to determine the validity of the current positioning result. Specifically, by determining that the first positioning information satisfies a preset condition, it is determined that the current positioning result is invalid. 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 in the present disclosure. In this embodiment, for the description of the first positioning information, reference may be made to the description of the positioning evaluation information in the previous embodiments. The "first positioning information" in this embodiment is different from the "first positioning information" described with reference to FIGS. 2 , 8 , 12 and 16 . In the embodiment of the present disclosure, determining that the first positioning information satisfies the preset condition may be regarded as determining that the current positioning result of the device is invalid.

According to the technical solutions provided by the embodiments of the present disclosure, by acquiring the first positioning information of the device; determining that the first positioning information satisfies a preset condition; and repositioning the device by using the visual matching positioning method and the laser matching positioning method, When the device is in a situation of changing environment or being surrounded by people, the device can be relocated by using the visual matching positioning method and the laser matching positioning method by determining that the first positioning information satisfies the preset condition. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

According to this embodiment of the present disclosure, 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 loopback detection evaluation information.

In this embodiment of the present disclosure, please refer to the foregoing embodiments for the relevant descriptions of the laser matching evaluation information, the speed detection evaluation information, the map matching evaluation information, the historical positioning evaluation information, and the visual loopback detection evaluation information.

According to the technical solutions provided by the embodiments of the present disclosure, 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 loopback detection. The evaluation information can be used to relocate the device by using the visual matching positioning method and the laser matching positioning method by determining that the first positioning information satisfies the preset conditions when the device is in a situation of environmental changes or surrounded by people. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

According to this embodiment of the present disclosure, using the visual matching positioning method and the laser matching positioning method to reposition the device, including:

Matching the collected visual features with a preset visual map to obtain the second positioning information of the device;

At the position corresponding to the second positioning information, the device is repositioned by matching the laser positioning information with a preset laser map.

In this embodiment, the description of the "second positioning information" may refer to the description of the "first positioning information" in the foregoing embodiments with respect to FIGS. 2 , 8 , 12 and 16 . In this embodiment, during the movement of the device, the visual features collected by the camera can be recorded in real time, and the corresponding second positioning information can be obtained by matching the visual features with the visual map. Then, at this location, the device is relocated by matching the laser positioning information to a preset map. After that, the validity of the positioning information obtained by re-positioning is judged. When the judgment is passed, it is considered that the positioning information obtained by the repositioning is valid. In the business process of the device, if the positioning is invalid due to factors such as environmental changes or human obstruction, the current actual position of the device can be obtained by using the current information obtained from the device sensors and the previously recorded relocation positioning information.

According to the technical solutions provided by the embodiments of the present disclosure, repositioning the device by using the visual matching positioning method and the laser matching positioning method includes: matching the collected visual features with a preset visual map, and obtaining the information of the device. second positioning information; at the position corresponding to the second positioning information, the device is relocated by matching the laser positioning information with the preset laser map, which can be used when the device is in a changing environment or surrounded by people. In the case of positioning, by determining that the first positioning information satisfies a preset condition, the device is repositioned by using a visual matching positioning method and a laser matching positioning method. Therefore, the technical solutions of the embodiments of the present disclosure improve the robustness of the positioning system of the device, so that the device can be used in business scenarios for a long time without being interrupted by various external interferences.

Those skilled in the art can understand that the three technical solutions in the above-described embodiments can be combined with the embodiments described with reference to FIG. 1 to FIG. 17 to have the technical effects achieved by the embodiments described with reference to FIGS. For specific content, reference may be made to the above description according to FIG. 1 to FIG. 17 , and the specific content is not repeated here.

The internal function and structure of the device positioning device are described above. In a possible design, the structure of the device positioning device may be implemented as an electronic device. As shown in FIG. 18 , the electronic device 1800 may include a processor 1801 and a memory 1802 .

The memory 1802 is used for storing a program that supports the device locating apparatus to execute the device locating method in any of the foregoing embodiments, and the processor 1801 is configured to execute the program stored in the memory 1802 .

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

Determine whether the current positioning information of the device is valid according to at least one positioning evaluation information used to determine the validity of the positioning information;

According to determining that the current positioning information of the device is invalid, the device is relocated by using at least one positioning method.

In an embodiment of the present disclosure, the determining whether the current positioning information of the device is valid according to at least one positioning evaluation information used to determine the validity of the positioning information includes:

Whether the current positioning information of the device is valid is determined according to an evaluation result of whether the current positioning information of the device meets a specific preset positioning condition in at least one positioning evaluation information.

In an 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, and visual loopback detection evaluation information.

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

According to determining that the current positioning information of the device is invalid, the device is repositioned by using a visual matching positioning method and a laser matching positioning method.

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

According to determining that the current positioning information of the device is invalid, the first positioning information of the device is determined by matching the collected visual features with a preset visual map;

At the position corresponding to the first positioning information, the device is repositioned by matching the laser positioning information with a preset laser map.

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

According to determining that the current positioning information of the device is invalid, receive the external positioning information of the device;

The external positioning information of the device is optimized using at least one positioning method to relocate the device.

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

The device is positioned by using at least one positioning method to obtain initial positioning information of the device as the current positioning information.

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

Using the collected visual features to match with a preset visual map to determine the second positioning information of the device;

At the position corresponding to the second positioning information, the device is positioned by matching the laser positioning information with a preset laser map, so as to determine the initial positioning information of the device.

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

According to the failure to collect the visual positioning feature, the device is instructed to use the local laser map generated according to the laser positioning information of the device to move until the visual positioning feature is collected.

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

According to determining that the current positioning information of the device is valid, the device is navigated by using the current positioning information.

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

Determine whether the current positioning information of the device is valid according to at least one positioning evaluation information used to determine the validity of the positioning information;

According to determining that the current positioning information of the device is invalid, the first positioning information of the device is determined by matching the collected visual features with a preset visual map;

At the position corresponding to the first positioning information, the device is repositioned by matching the laser positioning information with a preset laser map.

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

The device is positioned by using at least one positioning method to obtain initial positioning information of the device as the current positioning information.

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

Using the collected visual features to match with a preset visual map to determine the second positioning information of the device;

At the position corresponding to the second positioning information, the device is positioned by matching the laser positioning information with a preset laser map, so as to determine the initial positioning information of the device.

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

According to the failure to collect the visual positioning feature, the device is instructed to use the local laser map generated according to the laser positioning information of the device to move until the visual positioning feature is collected.

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

According to determining that the current positioning information of the device is invalid, receive the external positioning information of the device;

The external positioning information of the device is optimized using at least one positioning method to relocate the device.

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

Determine whether the current positioning information of the device is valid according to at least one positioning evaluation information used to determine the validity of the positioning information;

According to determining that the current positioning information of the device is valid, the device is navigated by using the current positioning information.

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

Obtain the first positioning information of the device;

determining that the first positioning information satisfies a preset condition;

The device is repositioned by using the visual matching positioning method and the laser matching positioning method.

In an embodiment of the present disclosure, 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 loopback detection evaluation information.

In an embodiment of the present disclosure, the device is repositioned by using a visual matching positioning method and a laser matching positioning method, including:

Matching the collected visual features with a preset visual map to obtain the second positioning information of the device;

At the position corresponding to the second positioning information, the device is repositioned by matching the laser positioning information with a preset laser map.

The processor 1801 is configured to execute all or part of the foregoing method steps.

Wherein, the structure of the electronic device may further include a communication interface for the electronic device to communicate with other devices or a communication network.

Exemplary embodiments of the present disclosure further provide a computer storage medium for storing computer software instructions used by the device positioning apparatus, including a program for executing the programs involved in any of the foregoing embodiments, so as to have the methods brought about by the method. technical effect.

FIG. 19 is a schematic structural diagram of a computer system suitable for implementing a device positioning method according to an embodiment of the present disclosure.

As shown in FIG. 19, a computer system 1900 includes a central processing unit (CPU) 1901, which can be loaded into a random access memory (RAM) 1903 according to a program stored in a read only memory (ROM) 1902 or a program from a storage section 1908 Instead, various processes in the embodiments shown in the above drawings are executed. In the RAM 1903, various programs and data necessary for the operation of the system 1900 are also stored. The CPU 1901 , the ROM 1902 and the RAM 1903 are connected to each other through 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, etc.; an output section 1907 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1908 including a hard disk, etc. ; and a communication section 1909 including a network interface card such as a LAN card, a modem, and 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, etc., is mounted on the drive 1910 as needed so that a computer program read therefrom is installed into the storage section 1908 as needed.

In particular, according to embodiments of the present disclosure, the methods described above with reference to the accompanying drawings may be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a readable medium thereof, the computer program containing program code for performing the methods of the accompanying drawings. In such an embodiment, the computer program may be downloaded and installed from the network through the communication section 1909, and/or installed from the removable medium 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 diagram or block diagram may represent a module, segment, or portion of code that contains one or more functions for implementing the specified logical function. executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the blocks 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 is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or operations , or can be implemented in a combination of dedicated hardware and computer instructions.

The units or modules involved in the embodiments of the present disclosure can be implemented in software or hardware. The described units or modules may also be provided in the processor, and the names of these units or modules do not constitute a limitation on the units or modules themselves in certain circumstances.

As another aspect, the present disclosure also provides a computer-readable storage medium, and the computer-readable storage medium may be a computer-readable storage medium included in the apparatus described in the foregoing embodiments; A computer-readable storage medium that fits into a device. The computer-readable storage medium stores one or more programs, and the programs are used by one or more processors to execute the method described in the present disclosure, so as to have the technical effect brought by the method.

The above description is merely a preferred embodiment of the present disclosure and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, and should also cover the above-mentioned technical features without departing from the inventive concept. Other technical solutions formed by any combination of its equivalent features. For example, a technical solution is formed by replacing the above features with the technical features disclosed in the present disclosure (but not limited to) with similar functions.

Claims (23)

1. A method for locating a device, comprising:

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.

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:

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.

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:

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.

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:

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.

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:

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.

7. The method of claim 1, further comprising:

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

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:

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.

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:

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.

10. The method of claim 1, further comprising:

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

11. An apparatus positioning device, comprising:

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.

12. A method for locating a device, comprising:

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 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.

13. The method of claim 12, further comprising:

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

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:

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.

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:

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.

16. The method of claim 12, further comprising:

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.

17. An apparatus positioning device, comprising:

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.

18. A device navigation method, comprising:

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

19. A data processing method, comprising:

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.

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

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

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

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.

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.

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