CN115661240A

CN115661240A - Position information determining method and device, electronic equipment and storage medium

Info

Publication number: CN115661240A
Application number: CN202211190525.7A
Authority: CN
Inventors: 张旭; 吴昊; 马国祖; 张昊; 谭天雯
Original assignee: China Telecom Corp Ltd
Current assignee: China Telecom Corp Ltd
Priority date: 2022-09-28
Filing date: 2022-09-28
Publication date: 2023-01-31

Abstract

The embodiment of the application discloses a method and a device for determining position information, electronic equipment and a storage medium, wherein the method comprises the following steps: under the condition that the mobile device is located in a first area, acquiring a first image of a first graphic code at a first moment, wherein the first area comprises a plurality of second areas, each second area comprises a plurality of graphic codes, and the second areas correspond to identification information one by one; identifying the first image to obtain first coordinate information of the mobile device in a third area, wherein the third area is an area where the mobile device is located at the first moment, and determining first identification information corresponding to the third area according to the first coordinate information and the second coordinate information; the second coordinate information is obtained by identifying a second image of a second graphic code acquired at a second moment, and the target position information of the mobile device is determined according to the first coordinate information and the first identification information. According to the embodiment of the application, the problems of low positioning accuracy and efficiency of the mobile device can be effectively solved.

Description

Position information determining method and device, electronic equipment and storage medium

Technical Field

The present application belongs to the field of internet 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 information technology, augmented Reality (AR) gradually comes into the field of view of people. AR superimposes virtual information based on the real world and objects to achieve a virtual and real fusion effect. It has been a challenge and challenge to accurately locate moving objects in space in AR.

Currently, positioning schemes based on visual recognition rely on the unambiguous nature of the object to be recognized, and the accuracy of positioning for multiple mobile devices is low. Positioning based on the ultra-wideband technology is often difficult to realize accurate AR positioning as a low-power-consumption communication positioning technology.

Thus, the accuracy and efficiency of positioning for mobile devices is not high at present.

Disclosure of Invention

The embodiment of the application provides a method, a device, equipment and a storage medium for determining position information, which can solve the problems of low positioning accuracy and efficiency of the mobile device at present.

In a first aspect, an embodiment of the present application provides a method for determining location information, where the method includes:

under the condition that the mobile device is located in a first area, acquiring a first image of a first graphic code at a first moment, wherein the first area comprises a plurality of second areas, each second area comprises a plurality of graphic codes, and the second areas correspond to identification information one by one;

identifying the first image to obtain first coordinate information of the mobile device in a third area, wherein the third area is an area where the mobile device is located at the first moment, and the third area is any one of a plurality of second areas;

determining first identification information corresponding to the third area according to the first coordinate information and the second coordinate information; the second coordinate information is obtained by identifying a second image of a second graphic code acquired at a second moment, the plurality of graphic codes comprise a first graphic code and a second graphic code, the second moment is prior to the first moment, and the time difference between the first moment and the second moment is less than a preset time difference;

and determining the target position information of the mobile device according to the first coordinate information and the first identification information.

In a second aspect, an embodiment of the present application provides a position information determining apparatus, including:

the mobile device comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring a first image of a first graphic code at a first moment under the condition that the mobile device is positioned in a first area, the first area comprises a plurality of second areas, each second area comprises a plurality of graphic codes, and the second areas correspond to identification information one by one;

the identification module is used for identifying the first image to obtain first coordinate information of the mobile device in a third area, wherein the third area is an area where the mobile device is located at the first moment, and the third area is any one of the plurality of second areas;

the first determining module is used for determining first identification information corresponding to the third area according to the first coordinate information and the second coordinate information; the second coordinate information is obtained by identifying a second image of a second graphic code acquired at a second moment, the plurality of graphic codes comprise a first graphic code and a second graphic code, the second moment is prior to the first moment, and the time difference between the first moment and the second moment is less than a preset time difference;

and the second determining module is used for determining the target position information of the mobile device according to the first coordinate information and the first identification information.

In a third aspect, an embodiment of the present application provides an electronic device, where the electronic device includes: a processor and a memory storing computer program instructions; the processor, when executing the computer program instructions, performs the method as in the first aspect or any possible implementation of the first aspect.

In a fourth aspect, embodiments of the present application provide a readable storage medium having stored thereon computer program instructions, which, when executed by a processor, implement a method as in the first aspect or any possible implementation manner of the first aspect.

In the embodiment of the application, under the condition that the mobile device is located in the first area, the first image of the first graphic code is acquired at the first time, the first area comprises a plurality of second areas which correspond to the identification information in a one-to-one mode, each second area comprises a plurality of graphic codes, through identifying the first image, first coordinate information of the mobile device indicated by the first graphic code in the third area where the first time is located can be obtained, the third area is any one of the plurality of second areas, and namely the first coordinate information is used for positioning of the mobile device in the third area. Then, according to the first coordinate information and the second coordinate information, determining first identification information corresponding to a third area, where the second coordinate information is obtained by identifying a second image of a second graphic code acquired at a second time, where the second time precedes the first time, and a time difference between the first time and the second time is smaller than a preset time difference, that is, the first coordinate information of the first time and the coordinate information of the second time are adjacently acquired coordinate information, so that the first identification information corresponding to the position of the third area in the first area can be determined according to the first coordinate information and the second coordinate information. Here, the first coordinate information is used to indicate the location of the mobile device in the third area, and the first identification information is used to indicate the location of the third area in the entire first area, whereby the target location information of the mobile device in the first area can be determined quickly and accurately based on the first coordinate information and the first identification information.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a flowchart of a method for determining location information according to an embodiment of the present disclosure;

fig. 2 is a schematic diagram of a mobile device according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a second area provided by an embodiment of the present application;

FIG. 4 is a schematic diagram of a first area provided by an embodiment of the present application;

FIG. 5 is a schematic view of another first region provided in an embodiment of the present application;

fig. 6 is a schematic view of an application scenario provided in an embodiment of the present application;

fig. 7 is a schematic structural diagram of a position information determining apparatus according to an embodiment of the present application;

fig. 8 is a schematic hardware structure diagram of an electronic device according to an embodiment of the present application.

Detailed Description

Features and exemplary embodiments of various aspects of the present application will be described in detail below, and in order to make objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present application by illustrating examples thereof.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element.

The method for determining location information provided in the embodiments of the present application can be applied to at least the following application scenarios, which are explained below.

The Augmented Reality (AR) technology is a technology that skillfully fuses virtual information and the real world, and a plurality of technical means such as multimedia, three-dimensional modeling, real-time tracking and registration, intelligent interaction, sensing and the like are widely applied, and virtual information such as characters, images, three-dimensional models, music, videos and the like generated by a computer is applied to the real world after being simulated, and the two kinds of information complement each other, so that the real world is enhanced. AR superimposes virtual information based on the real world and objects to achieve a virtual and real fusion effect. It has been a challenge and challenge in AR to accurately locate objects moving in space. The prior art has the following schemes, but the following schemes have serious limitations:

on one hand, vision identification positioning is realized by sensing moving objects in the real world through a camera or a LiDAR, an infrared camera and other schemes and combining an object identification algorithm, and the schemes can be collectively called as computer vision positioning schemes. However, this solution relies on identifying object objects with well-defined characteristics, such as color, shape, lighting, pattern, etc., which would otherwise be difficult to locate accurately. Especially, in a plurality of mobile robots with similar images, the visual identification scheme is often too unwieldy, and the accuracy is often not very high. In addition, the scheme needs strong calculation capability support, and the requirement on the performance of equipment for detecting a plurality of moving objects in real time is high.

On the other hand, positioning based on Ultra Wide Band (UWB) technology. UWB is a wireless carrier communication technology, which does not use sinusoidal carriers, but uses nanosecond-level non-sinusoidal narrow pulses to transmit data, and thus occupies a wide frequency spectrum. UWB is a low-power-consumption communication positioning technology, and the accuracy Of distance detection is about 5cm, positioning Of angle Of arrival (AoA) is more different, and there is a limitation on the Field Of View (FOV), so that it is often difficult to achieve accurate AR positioning.

Fig. 1 is a flowchart of a method for determining location information according to an embodiment of the present disclosure.

As shown in fig. 1, the position information determining method may include steps 110 to 140, and the method is applied to a position information determining apparatus, and specifically as follows:

step 110, under the condition that the mobile device is located in a first area, acquiring a first image of a first graphic code at a first time, wherein the first area comprises a plurality of second areas, each second area comprises a plurality of graphic codes, and the second areas correspond to the identification information one by one.

And 120, identifying the first image to obtain first coordinate information of the mobile device in a third area, wherein the third area is an area where the mobile device is located at the first moment, and the third area is any one of the plurality of second areas.

Step 130, determining first identification information corresponding to the third area according to the first coordinate information and the second coordinate information; the second coordinate information is obtained by identifying a second image of a second graphic code acquired at a second moment, the plurality of graphic codes comprise a first graphic code and a second graphic code, the second moment is prior to the first moment, and the time difference between the first moment and the second moment is smaller than a preset time difference.

And step 140, determining the target position information of the mobile device according to the first coordinate information and the first identification information.

In the embodiment of the application, under the condition that the mobile device is located in the first area, the first image of the first graphic code is acquired at the first time, the first area comprises a plurality of second areas which correspond to the identification information in a one-to-one mode, each second area comprises a plurality of graphic codes, through identifying the first image, first coordinate information of the mobile device indicated by the first graphic code in the third area where the first time is located can be obtained, the third area is any one of the plurality of second areas, and namely the first coordinate information is used for positioning of the mobile device in the third area. Then, according to the first coordinate information and the second coordinate information, determining first identification information corresponding to a third area, where the second coordinate information is obtained by identifying a second image of a second graphic code acquired at a second time, where the second time precedes the first time, and a time difference between the first time and the second time is smaller than a preset time difference, that is, the first coordinate information of the first time and the coordinate information of the second time are adjacently acquired coordinate information, so that the first identification information corresponding to the position of the third area in the first area can be determined according to the first coordinate information and the second coordinate information. Here, the first coordinate information is used for positioning of the mobile device in the third area, and the first identification information is used for positioning of the third area in the entire first area, whereby the target position information of the mobile device in the first area can be determined quickly and accurately based on the first coordinate information and the first identification information.

The contents of steps 110-140 are described below:

step 110 is involved.

Under the condition that the mobile device is located in a first area, a first image of a first graphic code is collected at a first moment, the first area comprises a plurality of second areas, each second area comprises a plurality of graphic codes, and the second areas correspond to the identification information one by one.

Wherein the first area includes a plurality of second areas, each second area having unique identification information. For example, the identification information of the second areas may be (1,1), (1,2), and (1,2), etc., and each second area includes a plurality of graphic codes, each graphic code corresponding to one coordinate information.

Illustratively, as shown in fig. 2, a light sensor is mounted on the bottom of the mobile device, and is matched with an LED lamp to emit light for illumination. In case the mobile device is located within the special coded mat, i.e. the first area, the positioning of the mobile device on the first area is achieved by scanning the graphic code on the special coded mat.

Each second area comprises a plurality of graphic codes, as shown in fig. 3, wherein the second area may be designed to have a standard square size (e.g. 1 meter by 1 meter) and then per square cm ² The inner grid is printed with a positioning two-dimensional code, which is divided into 100 × 100 grids starting from a corner (e.g., upper left corner) with (0,0) coordinates to an opposite corner (e.g., lower right corner) with (99, 99) coordinates. The user can splice a plurality of standardized base mats at the same angle to form first areas with different length-width ratios and shapes. Here, theThrough carrying out standardized design to the backing plate to in the time of the use, splice a plurality of cushions, can be so that the backing plate has more the practicality. And a counter algorithm is adopted during the positioning of the mobile device, so that the absolute position of the mobile device at any position can be calculated, and accurate positioning is realized.

The graphic code may be in various display forms, such as a two-dimensional code or a barcode, which is not limited herein. And because the distance between the light sensor at the bottom of the mobile device and the first area is usually close, the size of the graphic code can be smaller (for example, the side length is below 0.5 cm).

In addition, the pattern code lines can be thinned, the effect that the lines are difficult to identify by naked eyes at a long distance can be achieved, and the attractiveness of the base pad is achieved. Or, the two-dimensional code of the base mat can be printed by using a material sensitive to infrared rays, so that the two-dimensional code is invisible to naked eyes, and the same effect is realized by matching with an infrared LED lamp and an infrared light sensor.

Step 120 is involved.

And identifying the first image to obtain first coordinate information of the mobile device in a third area, wherein the third area is an area where the mobile device is located at the first moment, and the third area is any one of the plurality of second areas.

The step of recognizing the first image and obtaining the first coordinate information of the mobile device in the third area may specifically include: the method comprises the steps of scanning a first image, sending request information to a preset server, and receiving graphic information which is returned by the server and corresponds to a first graphic code, wherein the graphic information comprises first coordinate information of a mobile device in a third area, the third area is an area where the mobile device is located at a first moment, and the third area is any one of a plurality of second areas.

In a possible embodiment, before step 120, the following steps may be further included:

identifying a first image, and determining a first direction of a first graphic code;

under the condition that the first direction is inconsistent with the preset direction, determining a target coordinate conversion relation according to the first direction and the preset direction;

recognizing the first image, obtaining first coordinate information of the mobile device in the third area, and including:

identifying the first image to obtain fourth coordinate information of the mobile device in the third area;

and converting the fourth coordinate information into the first coordinate information based on the target coordinate conversion relation.

The direction of the graphic code included in each second area may be arbitrary, and the directions of the graphic codes in the same second area are consistent. The preset direction may be a direction designated by a user, or may be a default direction.

Under the condition that the first direction is consistent with the preset direction, the first image can be identified, and the first coordinate information of the mobile device in the third area is directly obtained.

When the mobile device is placed in a second area, a first image corresponding to a first graphic code on the second area is firstly identified, a first direction of the first graphic code is determined, and under the condition that the first direction is inconsistent with a preset direction, a target coordinate conversion relation is determined according to the first direction and the preset direction so as to obtain a coordinate conversion relation between coordinate information contained in the first graphic code and actual coordinate information.

For example, if the upper right corner of the third area is pieced to the upper left corner in the course of piecing the second area, the mobile device recognizes that the first direction of the first graphic code is rotated by 90 ° counterclockwise. Recognizing the first image, the coordinate conversion relationship between the fourth coordinate information (x, y) and the actual coordinate information (x ', y') of the mobile device in the third area is obtained (assuming that there are 100 × 100 two-dimensional codes on the pad):

x’＝y；y’＝100-x；

correspondingly, recognizing the first image and obtaining the first coordinate information of the mobile device in the third area comprises the following steps:

For example, the fourth coordinate information is (10, 20), and the first coordinate information obtained by converting the fourth coordinate information based on the target coordinate conversion relationship is (20, 90).

As shown in fig. 4, the splice between the plurality of second regions is a splice that may be based on any angle. All mobile units start with the second zone in the upper left corner. When the mobile device is placed in a second area at the upper left corner, firstly, the target coordinate conversion relation is determined according to the direction of the graphic code on the second area.

During the movement of the mobile device, the graphic code is continuously scanned so as to read the coordinate information (x, y) contained in the graphic code and convert the coordinate information into the actual coordinate information (x ', y'). On the one hand, if it is detected that the coordinate values x 'or y' are skipped, for example, from 0 to 99, or from 99 to 0, it is interpreted that the mobile device moves from one second area to another second area, as shown in fig. 5 from point E to point F. Therefore, x or y in the first identification information may be added by 1.

If the change of the direction of the graphic code is detected, the mobile device is indicated to move from one second area to another second area, such as point A to point B or point C to point D in FIG. 5. At this time, a new target coordinate transformation relation needs to be determined according to the new graphic code direction, and 1 is added to x or y in the first identification information.

Here, during the movement of the mobile device, a target coordinate conversion relation is determined by the direction of the graphic code, and fourth coordinate information obtained by identifying the first image is converted into the first coordinate information based on the target coordinate conversion relation, so that the coordinate information of the mobile device at any position can be calculated, and accurate positioning can be realized.

The step of identifying the first image and determining the first direction of the first graphic code may specifically include the following steps:

identifying a first image, and determining mark position information of a preset mark in a first graphic code;

and determining the first direction of the first graphic code according to the mark position information.

And identifying the first image, and determining the mark position information of a preset mark in the first graphic code. And determining the first direction of the first graphic code according to the mark position information. For example, if the marked position information is the upper left position of the first graphic code, it may be determined that the first direction of the first graphic code is consistent with the preset direction, and if the marked position information is the upper right position of the first graphic code, it may be determined that the difference between the first direction of the first graphic code and the preset direction is 90 degrees in the clockwise direction.

As shown in fig. 5, for example, a preset mark is disposed at the upper left corner of each graphic code, so that the first image can be recognized, mark position information of the preset mark in the first graphic code is determined, and the first direction of the first graphic code is determined according to the mark position information. Fig. 5 shows a case where the first direction coincides with the preset direction.

Here, through leading in the figure code with predetermineeing the mark, can make the user when the backing plate that a plurality of second regions correspond is spliced, need not strictly according to certain direction concatenation backing plate, further improve the practicality of backing plate.

Step 130 is involved.

Determining first identification information corresponding to the third area according to the first coordinate information and the second coordinate information; the second coordinate information is obtained by identifying a second image of a second graphic code acquired at a second moment, the plurality of graphic codes comprise a first graphic code and a second graphic code, the second moment is prior to the first moment, and a time difference value between the first moment and the second moment is smaller than a preset time difference value.

In order to enable the mobile device to realize quick and accurate positioning, an algorithm of a counter may be introduced, that is, the first identification information corresponding to the third area is determined according to the first coordinate information and the second coordinate information.

The second time is prior to the first time, and a time difference between the first time and the second time is smaller than a preset time difference, where the preset time difference may be an upper limit value of a time difference between two adjacent recognition pattern code operations of the mobile device, that is, the time difference between the second time is smaller than the preset time difference, which indicates that the first coordinate information of the first time and the coordinate information of the second time are adjacently acquired coordinate information, so that the first identification information corresponding to the position of the third area in the first area may be determined according to the first coordinate information and the second coordinate information.

For example, let the moving device start from the top left pad (i.e., the second area), a two-dimensional counter is set to (0,0), which means that the horizontal axis is the No. 0 pad and the vertical axis is the No. 0 pad. When the mobile device runs on the mat No. 0,0, the sensor can continuously read the coordinates, and when the x or y coordinate of the mobile device suddenly jumps from 99 to 0, it can be judged that the mobile device moves from the mat No. 0,0 to the mat No. 1,0)/(0,1), and the first identification information corresponding to the third area where the mobile device is currently located can be determined.

In a possible embodiment, the first coordinate information includes first abscissa information and first ordinate information, and the second coordinate information includes second abscissa information and second ordinate information, and step 130 may specifically include the following steps:

acquiring second identification information corresponding to a fourth area, wherein the fourth area is an area where the mobile device is located at a second moment, and the fourth area is any one of a plurality of second areas;

and under the condition that the difference value of the first abscissa information and the second abscissa information is larger than a first threshold value, or under the condition that the difference value of the first ordinate information and the second ordinate information is larger than the first threshold value, updating the second identification information according to a preset counting rule to obtain the first identification information.

And acquiring second identification information corresponding to the fourth area, where the second identification information may be an area where the mobile device is located at the second time, for example, the second identification information is a number (0,0). During the movement of the mobile device, its sensor can continuously read coordinates, such as: (0,0), … …, (89, 11), and as it continues to travel to the right to the edge of (0,0) second zone, its coordinates read to 99, e.g., (99, 11).

When the moving device continues to move to the right and moves to the edge of the second area No. (1,0), the coordinate thereof suddenly jumps to (0, 11), and since the X coordinate thereof suddenly jumps from 99 to 0, it can be judged that the moving device moved from the mat No. (0,0) to the mat No. (1,0) at this time.

In a case that a difference between the first abscissa information (i.e., 99) and the second abscissa information (i.e., 0) is greater than a first threshold (e.g., 98), or in a case that a difference between the first ordinate information and the second ordinate information is greater than the first threshold, the second identification information is updated according to a preset counting rule to obtain the first identification information, that is, the first abscissa identification information or the first ordinate identification information of the second identification information is added by 1 to obtain the first identification information.

Adding 1 to the first abscissa identification information of the second identification information to obtain first identification information under the condition that the difference value between the first abscissa information and the second abscissa information is larger than a first threshold value; and under the condition that the difference value between the first vertical coordinate information and the second vertical coordinate information is larger than a first threshold value, adding 1 to the first vertical coordinate identification information of the second identification information to obtain the first identification information.

In addition, the data of each coordinate cannot be completely read by the moving device in high-speed motion, the data can be smoothed by introducing tolerance value, for example, the robot may suddenly move to another pad after reading 98 and read 1, and then the error is 2, so that the situation that the jump between 99 and 0 is not read can be allowed to occur. The specifically introduced tolerance value can be flexibly adjusted according to different construction schemes, precision requirements, the operation speed of the mobile device and the reading precision.

Step 140 is involved.

And determining target position information of the mobile device according to the first coordinate information and the first identification information.

Through the steps, the real-time coordinates of the mobile device in the current second area, namely the first coordinate information (Cx, cy), and the first identification information (Dx, dy) of the current third area can be obtained, and the target position information of the mobile device can be determined according to the (Cx, cy) and the (Dx, dy).

In one possible embodiment, determining target location information of the mobile device based on the first coordinate information and the first identification information comprises:

determining a second distance according to the first identification information and a first distance corresponding to a second area acquired in advance;

and determining the target position information according to the first coordinate information and the second distance.

And if the second area is square, the first distance corresponding to the second area is the side length of the second area.

If the second area is rectangular, the first distance corresponding to the second area includes the lateral side length and the longitudinal side length of the second area.

Wherein the first distance on the X-axis and the first distance on the Y-axis of the single second region are equal to 100, the target position information (Ax, ay) may be determined according to the following operation:

Ax＝T*Dx+Cx；

Ay＝T*Dy+Cy；

therefore, no matter how many second areas are in the first area, the target position information of the mobile device in the first area can be obtained, and therefore the quick and accurate positioning of the mobile device in the first area can be guaranteed.

The method for determining the target position information comprises the following steps of:

determining a third distance according to the first abscissa identification information and a first distance corresponding to the second region acquired in advance;

determining a fourth distance according to the first ordinate identification information and a first distance corresponding to the second area acquired in advance; the second distance comprises a third distance and a fourth distance;

determining target abscissa information according to the first abscissa information and the third distance;

and determining the vertical coordinate information of the target according to the first vertical coordinate information and the fourth distance.

In one possible embodiment, the method further comprises:

under the condition that the mobile device is in a static state, acquiring historical position information of the mobile device at a third moment, wherein the third moment is the starting moment when the mobile device is in the static state;

acquiring the moving distance of the mobile device between the third moment and the fourth moment; the fourth moment is the moment that the mobile device is in a static state at the first moment after the third moment;

and determining an operation instruction according to the historical position information and the moving distance, wherein the operation instruction is used for indicating the moving track of the mobile device.

In the case where the mobile device is actually moved, the mobile device may be knocked over, picked up for checking for charging, or the like, and in this case, if the mobile device is not properly returned to the home position, an error may occur in the calculation of the target position information. For this case, a displacement detection algorithm of the IMU may be added to solve. The method comprises the following specific steps:

when the mobile device is detected to be knocked down, the historical position information of the mobile device at the knocking time, namely the historical position information (Cx, cy) at the third time is firstly read, and the third time is the starting time when the mobile device is in a static state, namely the time when the mobile device is knocked down. I.e. the aforementioned real-time coordinates.

The moving distance of the mobile device from the third time to the fourth time may be obtained through the IMU technology, where the fourth time is a time when the mobile device is first in a stationary state after the third time, that is, a time when the mobile device is placed on the second area again.

And judging whether the identification information of the second area where the mobile device is positioned is changed or not according to the historical position information and the moving distance so as to determine an operation instruction for indicating the moving track of the mobile device. The specific determination method is as follows:

the step of determining the operation instruction according to the historical position information and the moving distance may specifically include the following steps:

and determining an operation instruction under the condition that the historical coordinate information is in a preset coordinate interval or the moving distance is greater than a second threshold, wherein the operation instruction is used for indicating to clear the historical identification information and indicating to transfer the mobile device to a preset starting position.

In case the historical coordinate information is in the first preset coordinate interval, i.e. if the abscissa information C in the historical coordinate information is _X In a first preset coordinate interval (for example, within 20-80), or the ordinate information Cy in the historical coordinate information is in the first preset coordinate interval (for example, within 20-80), the moving distance of the mobile device after being picked up is roughly calculated through the data of the IMU, that is, the distance that the person carries the mobile device to move away from the ground after the person picks up the mobile device. If the movement distance is less than the preset distance, such as the operator merely righting the turning mobile device, the historical identification information is not cleared.

And if the historical coordinate information is in a preset coordinate interval (less than 10 or more than 80) immediately before the mobile device is knocked down, or if the moving distance is more than a second threshold value, the historical identification information needs to be cleared, and the user is prompted to transfer the mobile device to a preset starting position, such as a second area in the upper left corner of the first area, through an interface display or a voice output.

In addition, as shown in fig. 6, after the AR device is scanned and positioned by the camera, a corresponding AR special effect may be superimposed on the mobile device. Before that, the coordinate system read by the mobile device and the coordinate system in the AR equipment can be corrected once, the correction can be completed manually, and the correction can be quickly realized by a preset AR cloud anchor point or a preset image anchor point.

After the target position information of the mobile device is determined according to the first coordinate information and the first identification information, the mobile device can also transmit the code read by the mobile device to the AR identification device in real time through a communication technology, such as a communication technology of Bluetooth, wifi,5G and the like. The real-time absolute position coordinates of the mobile device can be uploaded to the 5G MEC node, and the 5G MEC node sends the absolute position coordinates of the mobile device to the user terminal participating in the AR game of the mobile device in the cell.

Therefore, the method can realize low-power consumption and high-precision positioning of the mobile device in AR augmented reality, and can be particularly applied to scenes of watching real robot battle games, positioning and displaying robots or unmanned vehicle projects in real time in AR, positioning and managing transfer robots in a warehouse and the like. In the embodiment of the application, in the moving process of the mobile device, the graphic code in the first area is continuously identified to determine the target position information of the mobile device in the first area, and the method has the characteristics of expansibility, low cost, flexible construction and the like, and has high application value.

In the position information determining method provided by the application, under the condition that the mobile device is located in the first area, the first image of the first graphic code is acquired at the first time, the first area comprises a plurality of second areas which correspond to the identification information one by one, each second area comprises a plurality of graphic codes, the first coordinate information of the mobile device indicated by the first graphic code in the third area where the mobile device is located at the first time can be obtained by identifying the first image, the third area is any one of the plurality of second areas, and namely the first coordinate information is used for positioning the mobile device in the third area. Then, according to the first coordinate information and the second coordinate information, determining first identification information corresponding to a third area, where the second coordinate information is obtained by identifying a second image of a second graphic code acquired at a second time, where the second time precedes the first time, and a time difference between the first time and the second time is smaller than a preset time difference, that is, the first coordinate information of the first time and the coordinate information of the second time are adjacently acquired coordinate information, so that the first identification information corresponding to the position of the third area in the first area can be determined according to the first coordinate information and the second coordinate information. Here, the first coordinate information is used for positioning of the mobile device in the third area, and the first identification information is used for positioning of the third area in the entire first area, whereby the target position information of the mobile device in the first area can be determined quickly and accurately based on the first coordinate information and the first identification information.

Based on the location information determining method shown in fig. 1, an embodiment of the present application further provides a location information determining apparatus, and as shown in fig. 7, the location information determining apparatus 700 may include:

the collecting module 710 is configured to collect a first image of a first graphic code at a first time when the mobile device is located in a first area, where the first area includes a plurality of second areas, each of the second areas includes a plurality of graphic codes, and the second areas correspond to the identification information one to one.

The identifying module 720 is configured to identify the first image to obtain first coordinate information of the mobile device in a third area, where the third area is an area where the mobile device is located at the first time, and the third area is any one of the plurality of second areas.

The first determining module 730, configured to determine, according to the first coordinate information and the second coordinate information, first identifier information corresponding to the third area; the second coordinate information is obtained by identifying a second image of a second graphic code acquired at a second moment, the plurality of graphic codes comprise a first graphic code and a second graphic code, the second moment is prior to the first moment, and a time difference value between the first moment and the second moment is smaller than a preset time difference value.

A second determining module 740, configured to determine the target location information of the mobile device according to the first coordinate information and the first identification information.

In a possible embodiment, the first coordinate information includes first abscissa information and first ordinate information, the second coordinate information includes second abscissa information and second ordinate information, and the first determining module 730 is specifically configured to:

In one possible embodiment, the apparatus 700 may further include:

the acquisition module is used for acquiring historical position information of the mobile device at a third moment under the condition that the mobile device is in a static state, wherein the third moment is the starting moment when the mobile device is in the static state;

the acquisition module is further used for acquiring the moving distance of the mobile device between the third time and the fourth time; the fourth moment is the moment that the mobile device is in a static state at the first moment after the third moment;

and the third determining module is used for determining an operation instruction according to the historical position information and the moving distance, wherein the operation instruction is used for indicating the moving track of the mobile device.

In a possible embodiment, the historical location information includes historical coordinate information and historical identification information, and the third determining module is specifically configured to:

and determining an operation instruction under the condition that the historical coordinate information is in a preset coordinate interval or the moving distance is greater than a second threshold, wherein the operation instruction is used for indicating to clear the historical identification information and indicating to transfer the mobile device to a preset initial position.

In one possible embodiment, the apparatus 700 may further include:

the fourth determining module is used for identifying the first image and determining the first direction of the first graphic code;

the fifth determining module is used for determining a target coordinate conversion relation according to the first direction and the preset direction under the condition that the first direction is inconsistent with the preset direction;

the identifying module 720 is specifically configured to:

In a possible embodiment, the graphic code includes a preset flag, and the fourth determining module is specifically configured to:

In a possible embodiment, the second determining module 740 is specifically configured to:

determining a second distance according to the first identification information and a first distance corresponding to the second area acquired in advance;

According to the embodiment of the application, under the condition that the mobile device is located in the first area, the first image of the first graphic code is collected at the first moment, the first area comprises a plurality of second areas which correspond to the identification information one by one, each second area comprises a plurality of graphic codes, through identifying the first image, the first coordinate information of the mobile device indicated by the first graphic code in the third area where the first moment is located can be obtained, the third area is any one of the plurality of second areas, and namely the first coordinate information is used for positioning the mobile device in the third area. Then, according to the first coordinate information and the second coordinate information, determining first identification information corresponding to a third area, where the second coordinate information is obtained by identifying a second image of a second graphic code acquired at a second time, where the second time precedes the first time, and a time difference between the first time and the second time is smaller than a preset time difference, that is, the first coordinate information of the first time and the coordinate information of the second time are adjacently acquired coordinate information, so that the first identification information corresponding to the position of the third area in the first area can be determined according to the first coordinate information and the second coordinate information. Here, the first coordinate information is used for positioning of the mobile device in the third area, and the first identification information is used for positioning of the third area in the entire first area, whereby the target position information of the mobile device in the first area can be determined quickly and accurately based on the first coordinate information and the first identification information.

Fig. 8 shows a hardware structure diagram of an electronic device according to an embodiment of the present application.

The electronic device may comprise a processor 301 and a memory 302 in which computer program instructions are stored.

Specifically, the processor 301 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured to implement one or more Integrated circuits of the embodiments of the present Application.

Memory 302 may include mass storage for data or instructions. By way of example, and not limitation, memory 302 may include a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, tape, or Universal Serial Bus (USB) Drive or a combination of two or more of these. Memory 302 may include removable or non-removable (or fixed) media, where appropriate. The memory 302 may be internal or external to the integrated gateway disaster recovery device, where appropriate. In a particular embodiment, the memory 302 is a non-volatile solid-state memory. In certain embodiments, memory 302 comprises Read Only Memory (ROM). Where appropriate, the ROM may be mask-programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically Erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.

The processor 301 implements any of the location information determination methods in the illustrated embodiments by reading and executing computer program instructions stored in the memory 302.

In one example, the electronic device may also include a communication interface 303 and a bus 310. As shown in fig. 3, the processor 301, the memory 302, and the communication interface 303 are connected via a bus 310 to complete communication therebetween.

The communication interface 303 is mainly used for implementing communication between modules, apparatuses, units and/or devices in the embodiment of the present application.

Bus 310 includes hardware, software, or both to couple the components of the electronic device to each other. By way of example, and not limitation, a bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hypertransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus or a combination of two or more of these. Bus 310 may include one or more buses, where appropriate. Although specific buses are described and shown in the embodiments of the application, any suitable buses or interconnects are contemplated by the application.

The electronic device may execute the location information determining method in the embodiment of the present application, thereby implementing the location information determining method described in conjunction with fig. 2.

In addition, in combination with the position information determining method in the foregoing embodiments, the embodiments of the present application may be implemented by providing a computer-readable storage medium. The computer readable storage medium having stored thereon computer program instructions; the computer program instructions, when executed by a processor, implement the location information determination method of fig. 1.

It is to be understood that the present application is not limited to the particular arrangements and instrumentality described above and shown in the attached drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications, and additions or change the order between the steps after comprehending the spirit of the present application.

The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the present application are the programs or code segments used to perform the required tasks. The program or code segments can be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include an electronic circuit, a semiconductor memory device, a ROM, a flash memory, an Erasable ROM (EROM), a floppy disk, a CD-ROM, an optical disk, a hard disk, an optical fiber medium, a Radio Frequency (RF) link, and so forth. The code segments may be downloaded via computer networks such as the internet, intranets, etc.

It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.

As described above, only the specific embodiments of the present application are provided, and it can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the system, the module and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, and these modifications or substitutions should be covered within the scope of the present application.

Claims

1. A method for determining location information, the method being applied to a mobile device, the method comprising:

identifying the first image to obtain first coordinate information of the mobile device in a third area, wherein the third area is an area where the mobile device is located at the first moment, and the third area is any one of the plurality of second areas;

determining first identification information corresponding to the third area according to the first coordinate information and the second coordinate information; the second coordinate information is obtained by identifying a second image of a second graphic code acquired at a second moment, the plurality of graphic codes comprise the first graphic code and the second graphic code, the second moment is prior to the first moment, and a time difference value between the first moment and the second moment is less than a preset time difference value;

2. The method according to claim 1, wherein the first coordinate information includes the first abscissa information and first ordinate information, the second coordinate information includes the second abscissa information and second ordinate information, and the determining the first identification information corresponding to the third area according to the first coordinate information and the second coordinate information includes:

acquiring second identification information corresponding to a fourth area, wherein the fourth area is an area where the mobile device is located at the second moment, and the fourth area is any one of the plurality of second areas;

and updating the second identification information according to a preset counting rule under the condition that the difference value between the first abscissa information and the second abscissa information is greater than a first threshold value, or under the condition that the difference value between the first ordinate information and the second ordinate information is greater than the first threshold value, so as to obtain the first identification information.

3. The method of claim 1, further comprising:

under the condition that the mobile device is in a static state, acquiring historical position information of the mobile device at a third moment, wherein the third moment is a starting moment when the mobile device is in the static state;

acquiring the moving distance of the mobile device between the third moment and the fourth moment; the fourth moment is the moment when the mobile device is in a static state at the first moment after the third moment;

4. The method of claim 3, wherein the historical position information comprises historical coordinate information and historical identification information, and wherein determining the operation instruction according to the historical position information and the moving distance comprises:

and determining the operation instruction under the condition that the historical coordinate information is in a preset coordinate interval or the moving distance is greater than a second threshold, wherein the operation instruction is used for indicating to clear the historical identification information and indicating to transfer the mobile device to a preset starting position.

5. The method of claim 1, wherein prior to said identifying the first image resulting in the first coordinate information of the mobile device in the third area, the method further comprises:

identifying the first image, and determining a first direction of the first graphic code;

under the condition that the first direction is inconsistent with a preset direction, determining a target coordinate conversion relation according to the first direction and the preset direction;

the recognizing the first image to obtain first coordinate information of the mobile device in a third area includes:

identifying the first image to obtain fourth coordinate information of the mobile device in a third area;

6. The method of claim 5, wherein the graphic code comprises a predetermined mark, and wherein identifying the first image and determining the first orientation of the first graphic code comprises:

the first image is identified, and mark position information of the preset mark in the first graphic code is determined;

7. The method of claim 1, wherein determining the target location information of the mobile device based on the first coordinate information and the first identification information comprises:

8. A position information determination apparatus characterized by comprising:

the mobile device comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a first image of a first graphic code at a first moment under the condition that the mobile device is positioned in a first area, the first area comprises a plurality of second areas, each second area comprises a plurality of graphic codes, and the second areas correspond to identification information one by one;

the first determining module is used for determining first identification information corresponding to the third area according to the first coordinate information and the second coordinate information; the second coordinate information is obtained by identifying a second image of a second graphic code acquired at a second moment, the plurality of graphic codes comprise the first graphic code and the second graphic code, the second moment is prior to the first moment, and a time difference value between the first moment and the second moment is less than a preset time difference value;

a second determining module, configured to determine target location information of the mobile device according to the first coordinate information and the first identification information.

9. An electronic device, characterized in that the electronic device comprises: a processor and a memory storing computer program instructions; the processor, when executing the computer program instructions, implements a method of determining location information as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium having computer program instructions stored thereon, which when executed by a processor, implement the location information determination method of any one of claims 1-7.