CN114390064A - Equipment positioning method, device, robot and storage medium - Google Patents
Equipment positioning method, device, robot and storage medium Download PDFInfo
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Abstract
The embodiment of the invention provides a device positioning method, a device, a robot and a storage medium, wherein the method comprises the following steps: and responding to the starting of the terminal equipment kernel, executing the starting script to allocate the computing resources of the terminal equipment, namely dividing part of the computing resources in the computing resources to obtain the positioning data. And then, continuously executing the positioning data acquisition program installed in the terminal equipment by using the allocated computing resource in the kernel so as to obtain the positioning data of the terminal equipment. And finally, sending the positioning data of the terminal equipment to a server so that the server can obtain the positioning data to monitor the position of the terminal equipment. According to the method, the terminal device directly runs the data acquisition program in the kernel to obtain the positioning data, the positioning data acquisition mode is simple and convenient, meanwhile, the acquired positioning data does not have too much processing logic, and the positioning data acquisition efficiency is high.
Description
Technical Field
The present invention relates to the field of positioning, and in particular, to a method and an apparatus for positioning a device, a robot, and a storage medium.
Background
The positioning function is one of the basic functions provided by the terminal device for the user. In practice, different types of Application programs (APPs) installed on the terminal device can also provide good use experience for the user by means of the positioning data collected by the terminal device.
For example, the self-moving robot can acquire the position of the self-moving robot in real time, and then synchronize the position information of the self-moving robot to the terminal equipment used by the user through the server, so that the user can know the task execution condition of the self-moving robot in real time. Wherein the self-moving robot may be a service robot, such as a cleaning robot, a guiding robot, or the like. For example, the instant messaging APP installed in the terminal device, after the terminal device used by the user acquires the position of the user, the position information can be synchronized to other users through the server, that is, the instant messaging APP provides the position sending function for the user.
Disclosure of Invention
In view of this, embodiments of the present invention provide a device positioning method, apparatus, robot and storage medium, so as to improve accuracy of positioning data.
In a first aspect, an embodiment of the present invention provides an apparatus positioning method, including:
responding to the starting of the terminal equipment kernel, executing a starting script to allocate computing resources for acquiring the positioning data;
in the kernel, executing a positioning data acquisition program by using the allocated computing resources to obtain positioning data of the terminal equipment;
and sending the positioning data to a server so that the server positions the terminal equipment.
In a second aspect, an embodiment of the present invention provides an apparatus positioning device, including:
the first execution module is used for responding to the starting of the terminal equipment kernel and executing a starting script so as to allocate computing resources for acquiring the positioning data;
the second execution module is used for executing the positioning data acquisition program by utilizing the distributed computing resources in the kernel so as to obtain the positioning data of the terminal equipment;
and the sending module is used for sending the positioning data to a server so as to enable the server to position the terminal equipment.
In a third aspect, an embodiment of the present invention provides a robot, including a processor and a memory, where the memory is used to store one or more computer instructions, and when the one or more computer instructions are executed by the processor, the method for positioning a device in the first aspect is implemented. The electronic device may also include a communication interface for communicating with other devices or a communication network.
In a fourth aspect, an embodiment of the present invention provides a non-transitory machine-readable storage medium having stored thereon executable code, which when executed by a processor of an electronic device, causes the processor to implement at least the device positioning method according to the first aspect.
The device positioning method provided by the embodiment of the invention responds to the starting of the terminal device kernel, and executes the starting script to allocate the computing resources of the terminal device, namely, part of the computing resources in the computing resources are divided to obtain the positioning data. And then, continuously executing the positioning data acquisition program installed in the terminal equipment by using the allocated computing resource in the kernel so as to obtain the positioning data of the terminal equipment. And finally, sending the positioning data of the terminal equipment to a server so that the server can obtain the positioning data to monitor the position of the terminal equipment. According to the method, the terminal device directly runs the positioning data acquisition program in the kernel to obtain the positioning data, and the positioning data acquisition mode is simple and convenient. Meanwhile, too much processing logic does not exist in the acquired positioning data, and the acquisition efficiency of the positioning data is high.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a flowchart of an apparatus positioning method according to an embodiment of the present invention;
fig. 2 is a system architecture diagram of an android system provided in an embodiment of the present invention;
fig. 3 is a flowchart of another apparatus positioning method according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an apparatus positioning device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a robot corresponding to the apparatus positioning device provided in the embodiment shown in fig. 4.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and "a" and "an" generally include at least two, but do not exclude at least one, unless the context clearly dictates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The words "if," "if," as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a recognition," depending on the context. Similarly, the phrases "if determined" or "if identified (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when identified (a stated condition or event)" or "in response to an identification (a stated condition or event)", depending on the context.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below may be combined with each other without conflict between the embodiments. In addition, the sequence of steps in each method embodiment described below is only an example and is not strictly limited.
Fig. 1 is a flowchart of an apparatus positioning method according to an embodiment of the present invention, where the apparatus positioning method according to the embodiment of the present invention may be executed by a positioning apparatus. It will be appreciated that the positioning device may be implemented as software, or a combination of software and hardware. In practice, the positioning device may be a terminal device. As shown in fig. 1, the method comprises the steps of:
and 101, responding to the starting of the terminal equipment kernel, executing a starting script to allocate computing resources for the acquisition of the positioning data.
For the terminal device supporting the Android system, optionally, specifically, a self-moving service robot may be specifically used, specifically, such as the guidance robot, the commercial cleaning robot, the home cleaning robot, and the like mentioned in the background art, in response to the starting of the Android system, the kernel of the Android system may be further started. The terminal device may further execute the start script in response to the start of the kernel. Optionally, the start script may be an init. The distribution of the computing resources is realized by executing the start script, that is, the terminal device can divide a part of the computing resources of the terminal device by executing the start script, and the start script is specially used for acquiring the positioning data of the terminal device.
And 102, in the kernel, executing a positioning data acquisition program by using the allocated computing resource to obtain positioning data of the terminal device.
Then, the terminal device may execute the positioning data obtaining program in the kernel by using the allocated computing resource, so as to obtain the positioning data of the terminal device itself.
For the process of obtaining the positioning data by executing the program, optionally, the terminal device can drive a positioning module configured in the terminal device by executing the positioning data obtaining program, so as to use the positioning module to collect the positioning data of the terminal device itself.
Alternatively, the Positioning module may be a Global Positioning System (GPS) module or a WiFi Positioning module, etc. And at least one positioning module can be installed in the terminal equipment.
The terminal device can obtain its own Positioning data by using a GPS Positioning module, such as satellite Positioning, base station Positioning, or Assisted Global Positioning System (AGPS). For simplicity of description, the assisted global positioning system may be referred to simply as assisted positioning. By using the WiFi positioning module, the terminal equipment can obtain self positioning data in a WiFi positioning mode. The above-mentioned positioning modes are all common positioning modes in practice, and the specific positioning process is not described herein again.
For the generation of the positioning data acquisition program, optionally, a developer can independently compile a compiling script and a source file of the positioning data acquisition program, and on development equipment which also runs an android system, the source file is compiled by using the compiling script, so that an executable file, namely the positioning data acquisition program, is obtained. Alternatively, the development device may install the positioning data acquisition program obtained by the compilation onto the terminal device.
103, sending the positioning data to the server to enable the server to position the terminal device.
Finally, the terminal equipment can send the positioning data to the server, and the server obtains the position of the terminal equipment, namely, the position of the terminal equipment is monitored.
For the positioning data obtained by executing the program, optionally, the terminal device may further store the positioning data in a form of a positioning file locally, so that the user may search for the positioning data. Optionally, the terminal device may also send the positioning data in the form of a file to the server.
In this embodiment, in response to the start of the kernel, the terminal device executes the start script to allocate computing resources of the terminal device itself, that is, to divide part of the computing resources in the computing resources to obtain the positioning data. Then, the positioning data acquisition program installed by the terminal device is continuously executed in the kernel by using the allocated computing resource to obtain the positioning data of the terminal device. And finally, sending the positioning data of the terminal equipment to a server so that the server can obtain the positioning data to monitor the position of the terminal equipment. According to the method, the terminal device directly runs the data acquisition program in the kernel to obtain the positioning data, the positioning data acquisition mode is simple and convenient, and the data acquisition efficiency is high.
In practice, the server can obtain reliable and real positioning data of the terminal device, so that when the terminal device is lost, the server can accurately position the position of the terminal device, and the possibility of retrieving the terminal device is improved.
It should be noted that, according to the method provided in the foregoing embodiment, the server may perform location monitoring on the terminal device used by the user. In practice, the terminal device may also be a home or commercial self-moving robot with a positioning function. According to the method in the embodiment, the position of the self-moving robot can be monitored, and meanwhile, the server can synchronize the obtained positioning data of the robot to other terminal equipment used by a user, such as a mobile phone, so that the user can monitor the position of the self-moving robot and know the traveling condition of the self-moving robot in time.
Optionally, a system architecture of an android system supported by the terminal device may be as shown in fig. 2, and based on the system architecture, a process of device positioning may be further described as: in response to the start of the APP installed in the terminal device, such as the takeaway APP or the instant messaging APP mentioned in the background art, the APP in the application layer in the system architecture may obtain the relevant function encapsulated in the hardware layer through the architecture layer. Then, through the correlation function of execution encapsulation in the hardware layer, the positioning module in the drive kernel layer gathers terminal equipment's locating data, finally loops through kernel layer, hardware layer, the framework layer in the system architecture again, with locating data reverse transmission back to the application layer to make APP obtain the locating data, can also further forward the server to the locating data simultaneously, so that the server realizes the position control to terminal equipment.
In the above manner, the acquisition of the positioning data can be realized only by the cooperative work of an application layer, an architecture layer, a hardware layer and a kernel layer in a system architecture, and the acquisition of the positioning data can be realized only when the APP runs. Therefore, the above-mentioned acquisition method flow of the positioning data is tedious, and there is a limit to the time period for the terminal device to perform the position monitoring, that is, the monitoring can be performed only during the APP start.
When the device positioning method shown in fig. 1 is used, the terminal device directly executes the positioning data obtaining program in the kernel, that is, even if the APP installed in the terminal device can be in the closed state, the server can also monitor the position of the terminal device. It can be seen that the device positioning method shown in fig. 1 does not depend on the start of a certain APP in the terminal device, but depends on the start of the terminal device, and the server can perform position monitoring on the terminal device at any time after the kernel of the android system is started, that is, the time period for position monitoring of the terminal device is not limited. Meanwhile, by using the device positioning method shown in fig. 1, the terminal device does not need to pass through a framework layer and a hardware layer in a system architecture of the android system, and all the terminal devices are processed to be executed in a kernel layer in the system architecture, so that the convenience of positioning data acquisition is ensured.
In addition, in practice, a virtual positioning program may also be installed in the terminal device. When the APP in the terminal device and the virtual positioning program run simultaneously, the virtual positioning program can tamper the positioning data acquired by the positioning module by means of a framework layer in a system framework, and the tampered positioning data is transmitted back to the APP and the server. At this time, the positioning data acquired by the server is false, which directly results in that the position monitoring of the terminal device by the server is effectively invalid.
Moreover, because the virtual positioning software can only be embedded into the architecture layer in the system architecture and cannot be embedded into the kernel layer, by using the device positioning method shown in fig. 1, the virtual positioning program cannot tamper the positioning data obtained by executing the program in the kernel, and the situation that the positioning data is tampered by the virtual positioning program can be avoided, so that the server can obtain real and reliable positioning data, and the effectiveness of monitoring the position of the terminal device is ensured.
From the above analysis, the device location method shown in fig. 1 has various advantages as described above, compared to obtaining location data through multiple layers of cooperation in the system architecture. And when the device positioning method provided by each embodiment of the invention is used for positioning, the advantages are also provided, and specific reasons can be seen in the above.
It is easy to understand that the positioning data acquiring program may be composed of a function, and may include a positioning data acquiring function, i.e., a callback function, for example. In order to ensure normal operation of the program, when the positioning data acquiring program is initially operated, the function needs to be initialized, that is, the data acquiring function needs to be initialized. After initialization, the data acquisition function can be called by using the computing resources allocated to the positioning data acquisition program, so that the positioning data can be obtained.
And the specific process of executing the positioning data acquisition program to obtain the positioning data in the embodiment shown in fig. 1 may be: and executing a positioning data acquisition program to drive a positioning module of the terminal equipment to acquire positioning data. Then, in conjunction with the function call procedure described above, the acquisition procedure of the positioning data is specifically: and calling a data acquisition function in the positioning data acquisition program by using the computing resources distributed to the positioning data acquisition program so as to drive a positioning module of the terminal equipment to acquire the positioning data.
Optionally, the positioning data acquisition program may further include a format setting function and a filtering function. And, like the data acquisition functions, both of these functions also need to be initialized before the initial run of the location data acquisition program. After initialization, the positioning of the terminal device can be implemented in the manner provided by the embodiment shown in fig. 3.
Fig. 3 is a flowchart of another device positioning method according to an embodiment of the present invention. As shown in fig. 3, the method may include the steps of:
in response to the start-up of the terminal device kernel, a start-up script is executed 201 to allocate computing resources for the acquisition of positioning data.
The execution process of step 201 is similar to the corresponding steps in the foregoing embodiment, and reference may be made to the relevant description in the embodiment shown in fig. 1, which is not repeated herein.
And 202, calling a data acquisition function by using the allocated computing resources to acquire positioning data obtained by the terminal equipment in different positioning modes.
After the terminal device allocates the computing resource for acquiring the positioning data, the allocated computing resource can be used for calling a data acquisition function so as to obtain the positioning data of the terminal device acquired in different positioning modes.
Alternatively, the positioning manners just mentioned in the embodiment shown in fig. 1 may include base station positioning, WiFi positioning, satellite positioning, assisted positioning, and the like. Positioning data acquired by base station positioning, satellite positioning, auxiliary satellite positioning and the like can be obtained by using a GPS positioning module configured in the terminal equipment; the positioning data collected in a WiFi positioning mode can be obtained by using a WiFi module configured in the terminal equipment.
And the positioning data obtained according to different positioning modes often have different data formats. For example, the positioning data obtained by satellite positioning may include longitude, latitude, satellite operating speed, direction, and other information. The positioning data obtained by the WiFi positioning method may include Mac address, longitude, latitude, and other information of the terminal device.
And 203, calling a format setting function to acquire a preset format of the positioning data, wherein the preset format corresponds to the positioning mode.
And 204, calling a filter function, and determining positioning data with a preset format from the positioning data obtained in different positioning modes.
After the positioning data in different formats is obtained by calling the data acquisition function, the target format of the positioning data can be obtained by calling the format setting function, and the target format can correspond to one or more positioning modes. The target format can be set artificially according to the requirement on the positioning precision.
Alternatively, in practice, the positioning data obtained by using the GPS positioning module in the satellite positioning mode is usually the most accurate, and therefore, the target format is the data format of the positioning data obtained by setting the GPS positioning module in the satellite positioning mode. Based on the set target format, the positioning data without the target format in all the acquired positioning data can be filtered by calling a filter function in the positioning data acquisition program.
205, sending the positioning data to the server to enable the server to position the terminal device.
The execution process of step 205 is similar to the corresponding steps in the foregoing embodiment, and reference may be made to the relevant description in the embodiment shown in fig. 1, which is not repeated herein.
In this embodiment, the positioning data of the terminal device itself is finally obtained by calling different functions in the positioning data obtaining program. And when the terminal equipment is configured with different positioning modules to obtain positioning data which are acquired in different modes and have different formats, the positioning data with the target format can be selected and acquired by considering the actual application scene, namely, the server monitors the position of the terminal equipment by using the positioning data with the target format, and the monitoring accuracy is ensured.
In addition to the above embodiments, the following may describe the device positioning method provided in each of the above embodiments in combination with a scenario of positioning from a mobile robot.
For the self-moving robot supporting the android system, in response to the starting of the self-moving robot, a system kernel of the self-moving robot is also started, and further a starting script is executed to allocate certain computing resources for acquiring the positioning data. And then, in the kernel of the android system, executing a positioning data acquisition program by using the allocated computing resource to obtain the positioning data of the mobile robot. And the positioning data can also be sent to a server maintained by a mobile robot developer and terminal equipment used by a user, such as a mobile phone, a computer and the like, so that the terminal equipment and the server can monitor the position of the mobile robot. Optionally, the terminal device used by the user may be installed with an APP that is matched with the self-moving robot, and then the positioning data of the self-moving robot may be displayed on a display interface provided by the APP installed in the terminal device.
The process of obtaining the positioning data for executing the data acquisition procedure may be: when the data acquisition program is run for the first time, a data acquisition function, a format setting function and a filtering function included in the program are initialized. After initialization, the kernel calls a data acquisition function to drive a GPS positioning module and a WiFi positioning module configured in the mobile robot, so that different positioning modules acquire positioning data in different formats. Then, the kernel calls a format setting function to determine a target format which is artificially preset. And calling a filter function to screen positioning data with a target format from positioning data with different formats acquired by different positioning modules. Wherein the target format corresponds to a positioning mode, and the setting of the target format is related to the positioning accuracy.
If the application layer, the framework layer, the hardware layer and the kernel layer in the android system cooperatively work to obtain the positioning data, the virtual positioning software installed in the mobile robot can tamper with the positioning data of the mobile robot on the framework layer, for example, the position of the mobile robot is tampered into a charging area from a working area, at this time, a user and a developer of the mobile robot can mistakenly think that the mobile robot has completed a corresponding job task and is located in the charging area for rest, but actually the mobile robot does not complete the job task.
The device positioning method provided by the embodiments of the invention is that the terminal device directly executes the program in the kernel to obtain the positioning data, and the positioning data is obtained in a simple manner and at a high speed. And the virtual positioning program cannot tamper the positioning data acquired in the kernel, so that the server and the terminal equipment used by the user can acquire real and reliable positioning data, and the situation is avoided.
The device positioning apparatus of one or more embodiments of the present invention will be described in detail below. Those skilled in the art will appreciate that the device positioning apparatus may be constructed using commercially available hardware components configured through the steps taught in the present solution.
Fig. 4 is a schematic structural diagram of an apparatus positioning device according to an embodiment of the present invention, and as shown in fig. 4, the apparatus includes:
and the first execution module 11 is configured to execute a start script in response to the start of the terminal device kernel to allocate a computing resource for acquiring the positioning data.
The second execution module 12 is configured to execute the positioning data obtaining program in the kernel by using the allocated computing resource, so as to obtain the positioning data of the terminal device.
A sending module 13, configured to send the positioning data to a server, so that the server positions the terminal device.
Optionally, the second execution module 12 is specifically configured to: and executing the positioning data acquisition program by using the allocated computing resources to drive a positioning module in the terminal equipment to obtain the positioning data acquired by the positioning module.
Optionally, the apparatus further comprises: an initialization module 14, configured to initialize a data acquisition function in the positioning data acquisition program in response to an initial operation of the positioning data acquisition program.
The second execution module 12 is specifically configured to: and calling the data acquisition function by using the allocated computing resources to obtain the positioning data.
Optionally, the initialization module 14 is further configured to initialize a format setting function and a filtering function in the positioning data obtaining program.
The second execution module 12 is specifically configured to: calling the data acquisition function by using the allocated computing resources to acquire positioning data obtained by the terminal equipment in different positioning modes;
calling the format setting function to acquire a target format of the positioning data, wherein the target format corresponds to a positioning mode;
and calling the filter function, and determining the positioning data with the target format from the positioning data obtained in different positioning modes.
The positioning mode comprises satellite positioning, base station positioning and WiFi positioning.
Optionally, the apparatus further comprises: the installation module 15 is configured to install the positioning data obtaining program provided by the development device, where the positioning data obtaining program is an executable file obtained by compiling a source file by using a compiling script.
Optionally, the sending module 13 is specifically configured to: generating a positioning file containing the positioning data;
and sending the positioning file for the server to analyze to obtain the positioning data to the server.
The apparatus shown in fig. 4 can perform the method of the embodiment shown in fig. 1 to 3, and reference may be made to the related description of the embodiment shown in fig. 1 to 3 for a part not described in detail in this embodiment. The implementation process and technical effect of the technical solution refer to the descriptions in the embodiments shown in fig. 1 to fig. 3, and are not described herein again.
The internal functions and structures of the device positioning apparatus are described above, and in one possible design, the structure of the positioning apparatus may be implemented as a robot, as shown in fig. 5, which may include: a processor 21 and a memory 22. Wherein the memory 22 is used for storing a program for supporting the electronic device to execute the device positioning method provided in the embodiments shown in fig. 1 to 3, and the processor 31 is configured to execute the program stored in the memory 22.
The program comprises one or more computer instructions which, when executed by the processor 21, are capable of performing the steps of:
responding to the starting of the terminal equipment kernel, executing a starting script to allocate computing resources for acquiring the positioning data;
in the kernel, executing a positioning data acquisition program by using the allocated computing resources to obtain positioning data of the terminal equipment;
and sending the positioning data to a server so that the server positions the terminal equipment.
Optionally, the processor 31 is further configured to perform all or part of the steps in the foregoing embodiments shown in fig. 1 to 3.
The electronic device may further include a communication interface 23 for communicating with other devices or a communication network.
In addition, an embodiment of the present invention provides a computer storage medium for storing computer software instructions for the electronic device, which includes a program for executing the method for positioning a device in the method embodiments shown in fig. 1 to 3.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The equipment positioning method is applied to terminal equipment and comprises the following steps:
responding to the starting of the terminal equipment kernel, executing a starting script to allocate computing resources for acquiring the positioning data;
in the kernel, executing a positioning data acquisition program by using the allocated computing resources to obtain positioning data of the terminal equipment;
and sending the positioning data to a server so that the server positions the terminal equipment.
2. The method according to claim 1, wherein said executing a positioning data acquisition procedure using the allocated computing resource to obtain the positioning data of the terminal device comprises:
and executing the positioning data acquisition program by using the allocated computing resources to drive a positioning module in the terminal equipment to obtain the positioning data acquired by the positioning module.
3. The method of claim 1, further comprising:
initializing a data acquisition function in the positioning data acquisition program in response to the initial operation of the positioning data acquisition program;
the executing a positioning data obtaining program by using the allocated computing resource to obtain the positioning data of the terminal device includes:
and calling the data acquisition function by using the allocated computing resources to obtain the positioning data.
4. The method of claim 3, further comprising:
initializing a format setting function and a filtering function in the positioning data acquisition program;
the executing a positioning data obtaining program by using the allocated computing resource to obtain the positioning data of the terminal device includes:
calling the data acquisition function by using the allocated computing resources to acquire positioning data obtained by the terminal equipment in different positioning modes;
calling the format setting function to acquire a target format of the positioning data, wherein the target format corresponds to a positioning mode;
and calling the filter function, and determining the positioning data with the target format from the positioning data obtained in different positioning modes.
5. The method of claim 4, wherein the positioning manner comprises satellite positioning, base station positioning, and WiFi positioning.
6. The method of claim 1, further comprising:
and installing the positioning data acquisition program provided by the development equipment, wherein the positioning data acquisition program is an executable file obtained by compiling a source file by using a compiling script.
7. The method of claim 1, wherein sending the positioning data to a server comprises:
generating a positioning file containing the positioning data;
and sending the positioning file for the server to analyze to obtain the positioning data to the server.
8. An apparatus positioning device, comprising:
the first execution module is used for responding to the starting of the terminal equipment kernel and executing a starting script so as to allocate computing resources for acquiring the positioning data;
the second execution module is used for executing the positioning data acquisition program by utilizing the distributed computing resources in the kernel so as to obtain the positioning data of the terminal equipment;
and the sending module is used for sending the positioning data to a server so as to enable the server to position the terminal equipment.
9. A robot, comprising: a memory, a processor; wherein the memory has stored thereon executable code which, when executed by the processor, causes the processor to perform the device location method of any one of claims 1 to 7.
10. A non-transitory machine-readable storage medium having stored thereon executable code, which when executed by a processor of an electronic device, causes the processor to perform the device location method of any one of claims 1 to 7.
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| CN202111659050.7A CN114390064A (en) | 2021-12-30 | 2021-12-30 | Equipment positioning method, device, robot and storage medium |
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| CN202111659050.7A CN114390064A (en) | 2021-12-30 | 2021-12-30 | Equipment positioning method, device, robot and storage medium |
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