CN115638794A - Method and device for determining position information, electronic equipment and storage medium - Google Patents
Method and device for determining position information, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a method and a device for determining position information, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring a digital map issued by a server, wherein the digital map comprises at least one item of object position information, and the object comprises entity equipment and/or a landmark; if the target object is obtained through identification, determining relative position information between the target object and the target object; and determining the position information of the robot according to the object position information matched with the target object in the digital map and the relative position information between the robot and the target object. The effect of the robot in the work area for fast positioning the position of the robot is achieved. The universality of the digital map among the robots is optimized, the service relevance between the robots and the working environment is improved, and the coverage rate of the digital map on information in a working area is improved.
Description
Technical Field
The present invention relates to the field of data processing technologies, and in particular, to a method and an apparatus for determining location information, an electronic device, and a storage medium.
Background
With the development of science and technology, intelligent robots are applied more and more in workshop production. The robot moves in the workshop based on a certain navigation algorithm to execute the operation task.
The navigation types of the robot mainly include SLAM (Simultaneous Localization And Mapping), laser radar navigation, magnetic stripe navigation, and the like. Before the robot enters a new environment, a navigation map needs to be established, and when the operation environment changes, the navigation map also needs to be correspondingly modified. Therefore, the map data format is not common among different types of robots, and the robots cannot adapt to the operating environment.
Disclosure of Invention
The invention provides a method and a device for determining position information, electronic equipment and a storage medium, which are used for realizing the rapid and accurate positioning of a robot in a business process.
In a first aspect, an embodiment of the present invention provides a method for determining position information, where the method is applied to a robot, and the method includes:
acquiring a digital map issued by a server, wherein the digital map comprises at least one item of object position information, and the object comprises entity equipment and/or a landmark;
if the target object is obtained through identification, determining relative position information between the target object and the target object;
and determining the position information of the robot according to the object position information matched with the target object in the digital map and the relative position information between the robot and the target object.
In a second aspect, an embodiment of the present invention further provides an apparatus for determining position information, where the apparatus is deployed in a robot, and the apparatus includes:
the digital map acquisition module is used for acquiring a digital map issued by a server, wherein the digital map comprises at least one item of object position information, and the object comprises entity equipment and/or a landmark;
the relative position information determining module is used for determining the relative position information between the target object and the identification module if the identification module determines that the target object is obtained;
and the robot position information determining module is used for determining the position information of the robot according to the object position information matched with the target object in the digital map and the relative position information between the robot and the target object.
In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the method for determining location information according to any one of the embodiments of the present invention.
In a fourth aspect, embodiments of the present invention further provide a storage medium storing computer-executable instructions, which when executed by a computer processor, are used to perform the method for determining location information according to any one of the embodiments of the present invention.
According to the technical scheme of the embodiment of the invention, the server issues the digital map with the position information about the entity equipment and/or the landmark, and the position information of the robot is determined according to the position information of the target object by identifying the target object and determining the relative position information between the robot and the target object. The position information of the robot can be effectively determined. The effect of the robot in the working area for rapidly positioning the position of the robot is achieved. The digital map completely covers the information in the working area, so that the universality of the digital map among all robots is optimized, and the business relevance of the robots and the working environment is improved.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method for determining location information according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for determining location information according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a device for determining location information according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a flowchart of a method for determining position information according to an embodiment of the present invention, which is applicable to a situation where position information of a robot in a digital map is determined quickly and accurately, and the method may be performed by a position information determining apparatus, which may be implemented in hardware and/or software, and may be configured in any electronic device having an operating environment of the apparatus and capable of performing network communication.
As shown in fig. 1, the method includes:
s110, a digital map issued by a server is obtained, wherein the digital map comprises at least one item of object position information, and the object comprises entity equipment and/or a landmark.
The digital map may be an application or a web page with path planning, position navigation and landmark information displayed on the terminal device.
Specifically, the digital map sent by the server to the target robot should include the object position information in the operation area where the robot is located, and the operation area may be, for example, a workshop, a factory building, or the like. Objects in the digital map display operation area are generally physical devices, landmarks of a work road, and the like. The object location information may be specific coordinates of the entity device or the landmark in the digital map, and may be reported to the server by each object, or obtained in response to a location information adding operation of the user.
Optionally, the digital map further includes map basic information, obstacle information, travelable path information, and area information.
The map basic information may be information of building use conditions of an operation area where the navigation entity is located, for example, building area information of the robot operation area, and may be obtained by accurately measuring the building use area through a measurement algorithm and a tool. The obstacle information may be obstacle information that affects the navigation entity to travel on a road set in the operation area, and the obstacle information includes 2D model information and obstacle positions that the modeling tool establishes for all obstacles in the navigation area. The drivable path information can be a drivable path planned by an algorithm according to the digital map and the actual road condition information, and is generally drivable information displayed by path optimization through a background. The area information is the area division in the operation space where the robot is located, and the area information includes the position information of the working area where the navigation entity such as the robot is located.
The digital map integrates basic information, obstacle information, travelable path information and area information of the map to form a complete operation map for the robot to execute.
In the embodiment of the invention, after the server acquires the position information of the object, the map basic information, the obstacle information, the travelable path information and the area information, the digital map is generated and stored in the server. The server issues the digital map to the robots needing to work in the operation area, and each robot determines the position information according to the same digital map issued by the server, so that the unification of the digital map is kept, and the business relevance among the robots is improved.
S120, if the target object is determined to be obtained through identification, determining relative position information between the target object and the target object;
the target object may be a physical device recognized by the robot, a landmark, or the like. The relative position information may be position information describing the target object with reference to position coordinates and azimuth information of the robot within the same work area.
Optionally, determining to identify the target object includes: the method comprises the steps that an environment image is obtained through shooting by a shooting device, and object recognition is carried out on the environment image to obtain a target object; and/or detecting the object through a laser radar to obtain the target object.
The laser radar may be a radar system that detects characteristic quantities such as a position of a target, a distance to the target, and an orientation of the target with a laser beam.
Specifically, the target object is sensed and detected in real time through a shooting device, a laser radar system and other equipment which are configured in a working area, and the position and the orientation information of the target object are measured and established according to a measuring tool and a space modeling method.
Illustratively, an environment image in a current working scene is shot by a shooting device of a workshop like a specific camera, and whether a target object is contained in the current environment image is predicted according to a deep learning model which is obtained by training in advance and has the capability of identifying the target object. Or, a laser radar technology such as UWB (Ultra Wide Band), RFID (Radio Frequency Identification System) and a sensor may be used to transmit a detection signal, an echo reflected by a target object is compared with the transmitted signal, and the position, distance, orientation and posture information of the target object may be obtained by calculating according to information generated in the process.
S130, determining the position information of the robot according to the object position information matched with the target object in the digital map and the relative position information between the robot and the target object.
Specifically, the object position information of each target object can be searched according to a digital map issued by the current server, and the relative position information between the robot and the specified target object is measured and calculated by a distance detection algorithm. The position information of the robot can be calculated through the coordinate position of the digital map where the target object is located and the relative position information of the robot and the target object in the working area coordinate system.
Optionally, if it is determined that the digital map re-issued by the server is received, determining the position information of the robot according to the object position information matched with the target object in the re-issued digital map and the relative position information between the robot and the target object; and at least one item of object position information in the digital map which is issued again is different from that in the original digital map which is issued.
Specifically, when the position information of one or more objects changes, the server updates and re-issues the digital map. That is, the re-issued digital map has at least one object position information different from the originally issued digital map. For example, when the sensor, the image acquisition device and the target position identification method determine that the position information of at least one object in the working area changes, the server updates the position information of the target object and issues the updated digital map. And the robot updates the digital map into the digital map which is issued by the server finally, and determines the position information of the robot according to the position information of the target object in the map and the relative position information of the target object and the robot.
Illustratively, when the position of a target object in a working area changes, the actual position information of the measured target object is uploaded to the server, the server updates the digital map and re-issues the digital map to the robot, and the robot knows the position coordinate and the azimuth of the target object in the digital map, and the distance information and the azimuth information between the target object and the robot, so that the position coordinate and the azimuth information of the robot in a working area coordinate system can be calculated.
According to the technical scheme of the embodiment of the invention, the server issues the digital map with the position information about the entity equipment and/or the landmark, and the position information of the robot is determined according to the position information of the target object by identifying the target object and determining the relative position information between the robot and the target object. The position information of the robot can be effectively determined. The effect of the robot in the working area for rapidly positioning the position of the robot is achieved. The information in the working area is completely covered by the digital map, so that the universality of the digital map among all robots is optimized, and the business relevance of the robots and the working environment is improved.
Example two
Fig. 2 is a flowchart of a method for determining location information according to a second embodiment of the present invention, and the embodiment of the present invention is further embodied in a method for determining path information of a robot accessing a target object according to information of a digital map based on the second embodiment.
As shown in fig. 2, the method includes:
s210, a digital map issued by a server is obtained, wherein the digital map comprises at least one item of object position information, and the object comprises an entity device and/or a landmark.
Specifically, the digital map sent by the server to the robot at least contains the position information of an entity device or a landmark.
And S220, if the target object is determined to be obtained through identification, determining the relative position information between the target object and the target object.
Specifically, a panorama can be photographed by a photographing device disposed in the robot, and a target object can be detected according to a target recognition technology. Relative position information of the robot and the target object may be determined from the lidar.
And S230, determining the position information of the robot according to the object position information matched with the target object in the digital map and the relative position information between the robot and the target object.
Specifically, the position information of the robot is estimated by a relative position estimation algorithm according to the position information of the target object recorded by the digital map and the relative position information between the robot and the target object.
S240, planning a driving path of the robot according to the obstacle information, the driving path information, the position information of the docking entity equipment matched with the robot and the area information of the docking entity equipment.
As an alternative but not limited implementation manner, the robot is planned with a driving path according to the obstacle information, the travelable path information, the position information of the docking entity device matched with the robot, and the area information of the docking entity device. The following steps A1-A3 may be included, but are not limited to:
a1, determining at least one candidate driving path of the robot according to obstacle information, driving path information, position information of a docking entity device matched with the robot and area information of the docking entity device;
illustratively, according to the information of the obstacle information, the travelable path information, the entity equipment docked with the robot and the like of the digital map, and based on a path optimization algorithm in the intelligent optimization algorithm, candidate travel paths between the robot and the entity equipment docked with the robot are planned, wherein the number of the candidate travel paths is at least one.
Step A2, if the running paths of other robots sent by the server are determined to be received, re-determining candidate running paths according to the running paths of other robots;
for example, when a plurality of robots simultaneously perform work in a work area, there may be a case where a candidate travel path of a robot is already occupied by another robot, or a candidate travel path overlaps with travel paths of other robots. And issuing the running paths of other robots according to the server, and replanning the candidate running paths.
And A3, sending a use application of the candidate running path to the server, and determining the running path of the robot according to a feedback result of the server. Illustratively, the robot uploads the planned candidate driving path to the server to apply for using the candidate driving path. Specifically, when there are a plurality of candidate travel paths, the robot may calculate the weight of each candidate travel path according to the length of the path, the historical travel path, and the like, and sequentially send the application for use of the candidate travel path to the server in descending order of the weight. After receiving the application for using the candidate traveling path, the server integrates the traveling paths of other robots and judges whether the application of the robot is approved. If the application of the robot is agreed, the running path of the robot is determined, if the candidate running path is unavailable, the server feeds back the result that the application does not pass to the robot, and the robot continues to send the application of the next candidate running path to the server according to the sequence of the weights of the candidate running paths from high to low.
In this embodiment, a description is given of a travel path determination process by taking an example in which a server issues travel paths of other robots to the robots, and the robots adjust candidate travel paths according to the travel paths of the other robots. It should be noted that A1 to A3 are one possible implementation manner in the present embodiment. In another possible embodiment, the robot may sequentially send the application for using the candidate travel path to the server in a manner B1-B3, and the server determines whether the application for using the candidate travel path passes according to the travel paths of other robots, so as to determine the travel path of the robot.
B1, determining at least one candidate driving path of the robot according to obstacle information, driving path information, position information of a docking entity device matched with the robot and area information of the docking entity device;
b2, respectively calculating the weight of each candidate traveling path, and sending the application of the candidate traveling path to a server according to the sequence from high to low of the weight, so that the server judges whether the application of the candidate traveling path passes according to the application of the candidate traveling path and the traveling paths of other robots;
and B3, if the server confirms that the use application passing instruction of the target candidate driving path is received, the target candidate driving path is used as the driving path of the robot.
And S250, driving to the docking entity equipment according to the planned driving path.
Specifically, the candidate driving path of the robot is checked by the server, the driving path planning is completed, and the robot drives to the position of the target docking entity device according to the driving path information and the obstacle identifier of the driving path in the digital map.
And S260, adjusting the posture of the robot according to a preset docking constraint condition so as to dock the robot with the docking entity equipment.
Illustratively, the docking of the robot and the docking entity device is realized according to docking constraints, such as the docking attitude, the docking distance, the actual docking point of the docking entity, and the like of the robot. When the robot is in butt joint with a butt joint entity, an instruction for limiting the robot to be in a certain posture and setting a butt joint posture needs to be generated, and the robot processor is compiled into a machine language according to instruction information to be in butt joint with the butt joint entity equipment.
The technical scheme of the embodiment of the invention is optimized on the basis of the embodiment, and the running path of the robot is further determined on the basis of determining the digital map by means of interconnection of the server and the robot network. The robot further searches for the docking equipment docked with the robot according to the running path and the identification of the digital map, and moves to the docking position of the docking equipment according to the accurate positioning principle. And the self-posture adjusted by the robot finishes the docking task with the docking equipment through the docking constraint condition information. The technical scheme of the embodiment realizes the dynamic planning of the robot path, and can accurately position the position of the docking equipment and complete the docking task. The path conflict of each robot in the working area is avoided, the posture adjustment of the robot is simplified, and the robot is more intelligent in practical application.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a device for determining location information according to a third embodiment of the present invention. As shown in fig. 3, the apparatus includes:
the digital map obtaining module 310 is configured to obtain a digital map sent by a server, where the digital map includes at least one item of object location information, and the object includes an entity device and/or a landmark.
The relative position information determining module 320 determines the relative position information with the target object if it is determined that the target object is obtained by identification.
And the robot position information determining module 330 is configured to determine position information of the robot according to object position information matched with the target object in the digital map and relative position information between the robot and the target object.
In the embodiment of the application, the digital map further includes map basic information, obstacle information, travelable path information, and area information.
In this embodiment of the application, the robot position information determining module 330 includes:
a digital map updating unit, configured to determine, if it is determined that the digital map re-issued by the server is received, position information of the robot according to object position information that is matched with the target object in the re-issued digital map and relative position information between the robot and the target object;
and the re-issued digital map is different from the originally issued digital map in at least one item of object position information.
In this embodiment of the application, the relative position information determining module 320 includes:
the first target object identification unit is used for obtaining an environment image through shooting by a shooting device and carrying out object identification on the environment image to obtain a target object;
and the second target object identification unit is used for detecting the object through the laser radar to obtain the target object.
In this embodiment, the apparatus further includes:
and the driving path planning module is used for planning the driving path of the robot according to the obstacle information, the drivable path information, the position information of the docking entity equipment matched with the robot and the area information of the docking entity equipment.
In this embodiment, the apparatus further includes:
the driving module is used for driving to the docking entity equipment according to the planned driving path;
and the docking module is used for adjusting the posture of the robot according to a preset docking constraint condition so as to dock the robot with the docking entity equipment.
In an embodiment of the present application, the driving path planning module includes:
and the candidate driving path determining unit is used for determining at least one candidate driving path of the robot according to the obstacle information, the drivable path information, the position information of the docking entity equipment matched with the robot and the area information of the docking entity equipment.
And the candidate running path updating unit is used for re-determining the candidate running path according to the running paths of other robots if determining that the running paths of other robots issued by the server are received.
And the running path determining unit is used for sending a use application of the candidate running path to the server and determining the running path of the robot according to a feedback result of the server.
The device for determining the position information, provided by the embodiment of the invention, can execute the method for determining the position information provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 4 is a schematic structural diagram of an electronic apparatus according to a fourth embodiment of the present invention, as shown in fig. 4, the electronic apparatus includes a processor 70, a memory 71, an input device 72, and an output device 73; the number of the processors 70 in the electronic device may be one or more, and one processor 70 is taken as an example in fig. 4; the processor 70, the memory 71, the input device 72 and the output device 73 in the electronic apparatus may be connected by a bus or other means, and the bus connection is exemplified in fig. 4.
The memory 71 may be used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as modules corresponding to the determination method of position information in the embodiment of the present invention (for example, the digital map acquisition module 310, the relative position information determination module 320, and the robot position information determination module 330 in the determination device of position information). The processor 70 executes various functional applications and data processing of the electronic device by executing software programs, instructions and modules stored in the memory 71, that is, implements the above-described determination method of the position information. The method comprises the following steps:
acquiring a digital map issued by a server, wherein the digital map comprises at least one item of object position information, and the object comprises entity equipment and/or a landmark;
if the target object is obtained through identification, determining relative position information between the target object and the target object;
and determining the position information of the robot according to the object position information matched with the target object in the digital map and the relative position information between the robot and the target object.
The memory 71 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 71 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 71 may further include memory located remotely from the processor 70, which may be connected to the electronic device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 72 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function controls of the electronic apparatus. The output device 73 may include a display device such as a display screen.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a method for determining location information, the method including:
acquiring a digital map issued by a server, wherein the digital map comprises at least one item of object position information, and the object comprises entity equipment and/or a landmark;
if the target object is obtained through identification, determining relative position information between the target object and the target object;
and determining the position information of the robot according to the object position information matched with the target object in the digital map and the relative position information between the robot and the target object.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the method for determining location information provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention or portions thereof contributing to the prior art may be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling an electronic device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the device for determining location information, the included units and modules are only divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, the specific names of the functional units are only for the convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. A method for determining positional information, applied to a robot, the method comprising:
acquiring a digital map issued by a server, wherein the digital map comprises at least one item of object position information, and the object comprises entity equipment and/or a landmark;
if the target object is obtained through identification, determining relative position information between the target object and the target object;
and determining the position information of the robot according to the object position information matched with the target object in the digital map and the relative position information between the robot and the target object.
2. The method according to claim 1, wherein the digital map further includes map base information, obstacle information, travelable path information, and region information.
3. The method of claim 2, further comprising:
if the digital map re-issued by the server is determined to be received, determining the position information of the robot according to the object position information matched with the target object in the re-issued digital map and the relative position information between the robot and the target object;
and the re-issued digital map is different from the originally issued digital map in at least one item of object position information.
4. The method of claim 2, wherein determining that the target object is identified comprises:
the method comprises the steps that an environment image is obtained through shooting by a shooting device, and object recognition is carried out on the environment image to obtain a target object; and/or the presence of a gas in the atmosphere,
and detecting the object through a laser radar to obtain a target object.
5. The method of claim 2, after determining the positional information of the robot, further comprising:
and planning a driving path of the robot according to the obstacle information, the driving path information, the position information of the docking entity equipment matched with the robot and the area information of the docking entity equipment.
6. The method of claim 5, further comprising, after planning the travel path for the robot:
driving to the docking entity equipment according to the planned driving path;
and adjusting the posture of the robot according to a preset docking constraint condition so as to dock the robot with the docking entity equipment.
7. The method of claim 5, wherein planning the driving path of the robot according to the obstacle information, the drivable path information, the position information of the docking entity device matched with the robot, and the area information of the docking entity device comprises:
determining at least one candidate driving path of the robot according to the obstacle information, the drivable path information, the position information of the docking entity equipment matched with the robot and the area information of the docking entity equipment;
if the running paths of other robots sent by the server are determined to be received, re-determining candidate running paths according to the running paths of other robots;
and sending a use application of the candidate running path to the server, and determining the running path of the robot according to a feedback result of the server.
8. An apparatus for determining positional information, the apparatus being deployed in a robot, the apparatus comprising:
the digital map acquisition module is used for acquiring a digital map issued by a server, wherein the digital map comprises at least one item of object position information, and the object comprises entity equipment and/or a landmark;
the relative position information determining module is used for determining the relative position information between the target object and the identification module if the identification module determines that the target object is obtained;
and the robot position information determining module is used for determining the position information of the robot according to the object position information matched with the target object in the digital map and the relative position information between the robot and the target object.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of determining location information according to any of claims 1-7 when executing the program.
10. A storage medium storing computer-executable instructions for performing the method of determining location information according to any one of claims 1-7 when executed by a computer processor.
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