CN117320146A

CN117320146A - Positioning method and device, electronic equipment, storage medium and program product

Info

Publication number: CN117320146A
Application number: CN202210721283.3A
Authority: CN
Inventors: 刘恒进
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2022-06-23
Filing date: 2022-06-23
Publication date: 2023-12-29

Abstract

The embodiment of the application discloses a positioning method and device, electronic equipment, storage medium and program product, wherein the positioning method comprises the following steps: detecting first positioning information of an object to be positioned, and acquiring second positioning information of the object to be positioned if the first positioning information is matched with the set position characteristics, wherein the second positioning information comprises positioning information determined according to scene data acquired at a target position corresponding to the first positioning information; then, target positioning information of the object to be positioned is determined according to the first positioning information and the second positioning information. The technical scheme of the embodiment of the application can improve the positioning accuracy.

Description

Positioning method and device, electronic equipment, storage medium and program product

Technical Field

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

Background

In many application scenarios, positioning is required to obtain positioning information, and with the development of communication technology and positioning technology, the requirement on positioning accuracy is higher and higher. Currently, due to the influence of factors such as weather and obstacles, the positioning accuracy is low, for example, in the wireless positioning technology, that is, the technology of positioning according to wireless signals, the wireless signals are easily interfered by environmental elements such as weather and obstacles (e.g., walls, etc.), so that the positioning accuracy is reduced.

Disclosure of Invention

The embodiment of the application provides a positioning method and device, electronic equipment, a storage medium and a program product, which can improve positioning accuracy.

Other features and advantages of the present application will be apparent from the following detailed description, or may be learned in part by the practice of the application.

In a first aspect, an embodiment of the present application provides a positioning method, where the method includes:

detecting first positioning information of an object to be positioned;

if the first positioning information is matched with the set position characteristics, acquiring second positioning information of the object to be positioned; the second positioning information comprises positioning information determined according to scene data acquired at a target position corresponding to the first positioning information;

and determining target positioning information of the object to be positioned according to the first positioning information and the second positioning information.

In a second aspect, embodiments of the present application provide a positioning device, the device including:

the detection module is configured to detect first positioning information of an object to be positioned;

the acquisition module is configured to acquire second positioning information of the object to be positioned if the first positioning information is matched with the set position characteristics; the second positioning information comprises positioning information determined according to scene data acquired at a target position corresponding to the first positioning information;

And the determining module is configured to determine target positioning information of the object to be positioned according to the first positioning information and the second positioning information.

In a third aspect, an embodiment of the present application provides an electronic device, including:

one or more processors;

a memory for storing one or more computer programs that, when executed by the one or more processors, cause the electronic device to implement the positioning method as described above.

In a fourth aspect, embodiments of the present application provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor of an electronic device, causes the electronic device to implement a positioning method as described above.

In a fifth aspect, embodiments of the present application provide a computer program product comprising a computer program which, when executed by a processor, implements a positioning method as described above.

In the technical scheme provided by the embodiment of the application, first positioning information of an object to be positioned is detected, if the first positioning information is matched with the set position characteristics, second positioning information of the object to be positioned is acquired, wherein the second positioning information comprises positioning information determined according to scene data acquired at a target position corresponding to the first positioning information, so that the second positioning information is determined according to the scene data of the scene where the object to be positioned is located, and the accuracy of the second positioning information is improved; then, determining target positioning information of the object to be positioned according to the first positioning information and the second positioning information, thereby combining two different positioning technologies to determine the target positioning information of the object to be positioned, and further improving positioning accuracy; in addition, the second positioning information of the object to be positioned is acquired under the condition that the first positioning information is matched with the set position characteristics, so that the positioning accuracy in a specified scene can be improved, the amount of resources consumed by positioning can be reduced, and resources are saved.

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

Drawings

FIG. 1 is a schematic illustration of one implementation environment to which the present application relates;

FIG. 2 is a schematic diagram of an implementation environment shown in another exemplary embodiment of the present application

FIG. 3 is a flow chart of a positioning method shown in an exemplary embodiment of the present application;

FIG. 4 is a flow chart of a positioning method shown in another exemplary embodiment of the present application;

FIG. 5 is a flow chart of a positioning method shown in another exemplary embodiment of the present application;

FIG. 6 is a flow chart of a positioning method shown in another exemplary embodiment of the present application;

FIG. 7 is a flow chart of a positioning method shown in another exemplary embodiment of the present application;

FIG. 8 is a flow chart of a positioning method shown in another exemplary embodiment of the present application;

FIG. 9 is a flow chart of a positioning method shown in another exemplary embodiment of the present application;

FIG. 10 is a flow chart of a positioning method shown in another exemplary embodiment of the present application;

FIG. 11 is a flow chart of a positioning method shown in another exemplary embodiment of the present application;

FIG. 12 is a flow chart of a positioning method shown in another exemplary embodiment of the present application;

FIG. 13 is a flow chart of a positioning method shown in another exemplary embodiment of the present application;

FIG. 14 is a flow chart of a positioning method shown in another exemplary embodiment of the present application;

FIG. 15 is a flow chart of a positioning method shown in another exemplary embodiment of the present application;

FIG. 16 is a flow chart of a positioning method shown in another exemplary embodiment of the present application;

FIG. 17 is a flow chart of a positioning method shown in another exemplary embodiment of the present application;

FIG. 18 is a schematic view of a positioning device according to an exemplary embodiment of the present application;

fig. 19 shows a schematic diagram of a computer system suitable for use in implementing the electronic device of the embodiments of the present application.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.

The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.

The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.

Also to be described is: reference to "a plurality" in this application means two or more than two. "and/or" describes an association relationship of an association object, meaning that there may be three relationships, e.g., a and/or B may represent: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.

In many application scenarios, positioning is required to obtain positioning information, and with the development of communication technology and positioning technology, the requirement on positioning accuracy is higher and higher. Currently, due to the influence of factors such as weather and obstacles, the positioning accuracy is low, for example, in the wireless positioning technology, that is, the technology of positioning according to wireless signals, the wireless signals are easily interfered by environmental elements such as weather and obstacles (e.g., walls, etc.), so that the positioning accuracy is reduced. Based on this, the embodiment of the application provides a positioning method, which can improve positioning accuracy.

Referring to fig. 1, fig. 1 is a schematic diagram of an implementation environment according to the present application. The implementation environment includes an object 110 to be positioned and a positioning device 120.

The positioning device 120 may be a terminal device or a server, where the terminal device may include, but is not limited to, a smart phone, a tablet, a notebook computer, a computer, an intelligent voice interaction device, an intelligent home appliance, a vehicle-mounted terminal, an aircraft, etc., and the server may be an independent physical server, may be a server cluster or a distributed system formed by a plurality of physical servers, and may also be a cloud server that provides cloud services, a cloud database, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, a content distribution network (Content Delivery Network, CDN), and basic cloud computing services such as big data and an artificial intelligent platform, which are not limited herein.

Cloud computing (closed computing) refers to the delivery and usage mode of an IT infrastructure, meaning that required resources are obtained in an on-demand, easily scalable manner through a network; generalized cloud computing refers to the delivery and usage patterns of services, meaning that the required services are obtained in an on-demand, easily scalable manner over a network. Such services may be IT, software, internet related, or other services. Cloud Computing is a product of fusion of traditional computer and network technology developments such as Grid Computing (Grid Computing), distributed Computing (distributed Computing), parallel Computing (Parallel Computing), utility Computing (Utility Computing), network storage (Network Storage Technologies), virtualization (Virtualization), load balancing (Load balancing), and the like. With the development of the internet, real-time data flow and diversification of connected devices, and the promotion of demands of search services, social networks, mobile commerce, open collaboration and the like, cloud computing is rapidly developed. Unlike the previous parallel distributed computing, the generation of cloud computing will promote the revolutionary transformation of the whole internet mode and enterprise management mode in concept.

The object to be positioned may be a person, an object or other object to be positioned.

In this embodiment, the positioning device 120 may detect first positioning information of an object to be positioned, and if the first positioning information is matched with a set position feature, acquire second positioning information of the object to be positioned, where the second positioning information includes positioning information determined according to scene data acquired at a target position corresponding to the first positioning information, so that the second positioning information is determined according to scene data of a scene where the object to be positioned is located, thereby improving accuracy of the second positioning information; then, determining target positioning information of the object to be positioned according to the first positioning information and the second positioning information, thereby combining two different positioning technologies to determine the target positioning information of the object to be positioned, and further improving positioning accuracy; in addition, the second positioning information of the object to be positioned is acquired under the condition that the first positioning information is matched with the set position characteristics, so that the positioning accuracy in a specified scene can be improved, the amount of resources consumed by positioning can be reduced, and resources are saved.

Optionally, in an exemplary embodiment, referring to fig. 2, the implementation environment may further optionally include at least one of a terminal 130, a base station 140, a control device 150, and a data acquisition device 160.

The object to be positioned may carry the terminal 130, the terminal 130 may transmit a wireless signal outwards, the base station 140 may measure the wireless signal to obtain a measurement parameter, and the positioning device 120 may determine the position of the terminal 120 based on the measurement parameter, so that the position of the terminal 120 is used as the first positioning information of the object to be positioned.

The data acquisition device 160 may acquire scene data at the target location, and then the data acquisition device 160 or the control apparatus 150 may determine second positioning information of the object to be positioned according to the scene data and transmit the second positioning information to the positioning device 120.

The terminal 140 may include, but is not limited to, a smart phone, tablet, notebook, computer, intelligent voice interaction device, smart home appliance, vehicle terminal, aircraft, work card, etc.

The data acquisition device 160 includes, but is not limited to, a mobile device (e.g., a mobile robot, etc.), or a device mounted near the target location.

It should be noted that, in the present application, data related to an object, such as positioning information, is referred to, and when the positioning method of the present application is applied to a specific product or technology, the data is licensed or agreed to the object, and extraction, use and processing of the related data all comply with local safety standards and local legal regulations.

Referring to fig. 3, fig. 3 is a flow chart illustrating a positioning method according to an exemplary embodiment of the present application. The method may be applied to the implementation environment shown in fig. 1, which may be performed by the positioning device 120 in the implementation environment shown in fig. 1.

As shown in fig. 3, in an exemplary embodiment, the positioning method may include S310-S330, which are described in detail below:

s310, detecting first positioning information of an object to be positioned.

It should be noted that, the object to be positioned is an object to be positioned, and its category includes, but is not limited to, an object, a person, and the like.

The first positioning information includes information for characterizing the position of the object to be positioned, which may be coordinates, longitude and latitude, or other information capable of characterizing the position of the object to be positioned.

When a certain object is required to be positioned, the positioning device can detect positioning information of the object to be positioned to obtain first positioning information.

Optionally, the positioning device may detect positioning information of the object to be positioned based on a wireless positioning technology, so as to obtain the first positioning information.

The wireless positioning technology is a technology for positioning based on wireless signals, for example, a device to be positioned can send wireless signals to a signal receiving device, the signal receiving device measures the received wireless signals to obtain measurement parameters, so that positioning is performed based on the measurement parameters, and optionally, in order to improve accuracy of indoor positioning, the device to be positioned can send wireless signals to a base station based on Ultra Wide Band (UWB) technology. Wireless location techniques include, but are not limited to, time difference of Arrival (Time Difference of Arrival, TDOA) location techniques, angle-of-Arrival (AOA) location techniques, and the like. The TDOA location is a technology for locating by using the signal arrival time difference, that is, the measurement parameter includes the signal arrival time; AOA positioning technology is a technology that uses the angle of arrival of a signal for positioning, i.e. the measured parameters include the angle of arrival of the signal.

Optionally, the object to be positioned may send a wireless signal to the positioning device through the terminal, and the positioning device measures the received wireless signal to obtain a measurement parameter, so as to detect positioning information of the object to be positioned based on the measurement parameter; or the object to be positioned can send a wireless signal to the base station through the terminal, the base station measures the received wireless signal to obtain a measurement parameter, the measurement parameter is sent to the positioning device, and the positioning device detects the positioning information of the object to be positioned based on the measurement parameter. The terminal comprises, but is not limited to, a mobile phone, a tablet computer, a work card capable of transmitting wireless signals and the like.

S320, if the first positioning information is matched with the set position characteristics, acquiring second positioning information of the object to be positioned; the second positioning information includes positioning information determined from scene data acquired at a target location corresponding to the first positioning information.

The set position features are preset data used for judging whether the second position information of the object to be positioned needs to be acquired or not, and the specific content of the set position features can be flexibly set according to actual needs. In one example, to improve the positioning accuracy of an area where a wireless signal is susceptible to interference, the set position feature may be a position where the object to be positioned enters the wireless positioning technology and is susceptible to interference, for example, an edge of the area, etc.; alternatively, the set position feature may be a feature that characterizes the entry of the object to be positioned into an area where positioning accuracy is required.

The target position is a position corresponding to the first positioning information, and optionally, the target position may be a position indicated by the first positioning information; alternatively, the position may be a position near the position indicated by the first positioning information, for example, a position where the distance from the position indicated by the first positioning information is smaller than a predetermined value.

The second positioning information contains information for characterizing the position of the object to be positioned, which may be coordinates, longitude and latitude, or other information capable of characterizing the position of the object to be positioned. In order to improve the positioning accuracy, scene data can be acquired at a target position, and the scene data acquired at the target position contains relevant data of an object to be positioned because the target position corresponds to the first positioning information; and then, determining the positioning information of the object to be positioned according to the acquired scene data, and taking the determined positioning information as second positioning information. Wherein scene data may be collected by at least one of infrared, radar, camera, etc.

Alternatively, the scene data may be collected by a data collection device. The data acquisition device may be a device mounted at or near the target location, for example, a camera fixed to a wall, or the like; alternatively, the data acquisition device may be a mobile device, such as a mobile robot or the like.

In order to improve the positioning accuracy, if the first positioning information of the object to be positioned is matched with the set position characteristic, the second positioning information of the object to be positioned is acquired.

S330, determining target positioning information of the object to be positioned according to the first positioning information and the second positioning information.

After the first positioning information and the second positioning information of the object to be positioned are obtained, the target positioning information of the object to be positioned can be determined according to the first positioning information and the second positioning information. Because the first positioning information and the second positioning information are determined based on different positioning technologies, the target positioning information of the object to be positioned is determined by combining the two positioning technologies, so that the positioning accuracy can be improved.

It should be noted that, the specific manner of determining the target positioning information of the object to be positioned according to the first positioning information and the second positioning information may be flexibly set according to actual needs. Optionally, the second positioning information is determined based on the scene data acquired by the target position corresponding to the first positioning information, so that the accuracy is higher, and the second positioning information can be used as the target positioning information; alternatively, an intermediate position between the position indicated by the first positioning information and the position indicated by the second positioning information may be used as the target positioning information.

Alternatively, in an example, if the first positioning information does not match the set position feature, the first positioning information may be directly used as the target positioning information.

In the embodiment shown in fig. 1, by detecting first positioning information of an object to be positioned, if the first positioning information is matched with a set position feature, obtaining second positioning information of the object to be positioned, where the second positioning information includes positioning information determined according to scene data acquired at a target position corresponding to the first positioning information, so that the second positioning information is determined according to the scene data of a scene where the object to be positioned is located, and accuracy of the second positioning information is improved; then, determining target positioning information of the object to be positioned according to the first positioning information and the second positioning information, thereby combining two different positioning technologies to determine the target positioning information of the object to be positioned, and further improving positioning accuracy; in addition, the second positioning information of the object to be positioned is acquired under the condition that the first positioning information is matched with the set position characteristics, so that the positioning accuracy in a specified scene can be improved, the amount of resources consumed by positioning can be reduced, and resources are saved.

In an exemplary embodiment, referring to fig. 4, fig. 4 is a flow chart of a positioning method shown in another exemplary embodiment of the present application. The method may be applied to the implementation environment shown in fig. 1, which may be performed by the positioning device 120 in the implementation environment shown in fig. 1. As shown in fig. 4, the positioning method includes S310, S410-S420, and S320-S330, which are described in detail as follows:

s410, acquiring historical positioning information of an object to be positioned; the time difference between the detection time of the historical positioning information and the detection time of the first positioning information is smaller than a preset time threshold.

It should be noted that the historical positioning information is the position information of the object to be positioned detected before the first positioning information is detected. The historical positioning information can be positioning information of an object to be positioned, which is detected based on a wireless positioning technology; alternatively, the historical positioning information may be positioning information of the object to be positioned detected based on other positioning technologies, for example, if the positioning device periodically determines target positioning information of the object to be positioned, the historical positioning information may be historical target positioning information.

The preset time threshold is used for acquiring the historical positioning information. The specific value of the method can be flexibly set according to actual needs, for example, the method can be set to be 2 seconds, 1 second and the like; in one example, if the positioning device periodically detects the position information of the object to be positioned based on the wireless positioning technology, or the positioning device periodically determines the target positioning information of the object to be positioned, the preset time threshold may also be 1 period, 2 periods, or the like.

In order to determine whether the first positioning information of the object to be positioned matches the set position feature, the positioning device may acquire historical positioning information in which a time difference between the detection time and the detection time of the first positioning information is smaller than a preset time threshold.

In step S420, if it is determined that the object to be positioned moves between the designated area and the adjacent area of the designated area according to the first positioning information and the historical positioning information, it is determined that the first positioning information matches with the set position feature.

The designated area may be an area designated from a plurality of areas divided in advance, and alternatively, an area requiring high positioning accuracy may be used as the designated area, for example, in order to ensure production and operation safety, strict management of a person or an object entering a key area (for example, a data center, a dangerous area) is required, and thus, the key area in production and operation may be set as the designated area. Alternatively, the specified area may be an area to which the position indicated by the first positioning information belongs.

Because the interval between the designated area and the adjacent area of the designated area is smaller, and an obstacle such as a wall may exist between the designated area and the adjacent area, and the obstacle has large interference on wireless signals, positioning is performed based on the wireless positioning technology, so that the object to be positioned in the designated area is easily positioned to the adjacent area of the designated area, or the object to be positioned in the adjacent area of the designated area is easily positioned to the designated area, and the positioning accuracy is reduced. Based on the above, in order to improve the positioning accuracy, whether the object to be positioned moves between the designated area and the adjacent area can be judged according to the acquired historical positioning information and the first positioning information, if so, the object to be positioned is characterized as moving between the designated area and the adjacent area of the designated area in a short time, the positioning error probability is higher, and in order to improve the positioning accuracy, the first positioning information is determined to be matched with the set position characteristics, so that the target positioning information of the object to be positioned is determined according to the first positioning information and the second positioning information.

Optionally, if the first positioning information matches with the set position feature and includes that the object to be positioned moves between the designated area and the adjacent area of the designated area, the corresponding second positioning information may include a detection result determined based on the scene data and representing whether the object to be positioned moves between the designated area and the adjacent area of the designated area.

It should be noted that: specific implementation details of S310-S330 shown in fig. 4 may refer to S310-S330 shown in fig. 3, and will not be described here again.

In the embodiment shown in fig. 4, the historical positioning information that the time difference between the detection time and the detection time of the first positioning information is smaller than the preset time threshold is obtained, if it is determined that the object to be positioned moves between the designated area and the adjacent area of the designated area according to the first positioning information and the obtained historical positioning information, the first positioning information is determined to be matched with the set position feature, so that the accuracy of the object to be positioned can be determined based on the first positioning information and the second positioning information, and the positioning accuracy in the designated area is improved.

In an exemplary embodiment, referring to fig. 5, fig. 5 is a flow chart of a positioning method shown in another exemplary embodiment of the present application. The method may be applied to the implementation environment shown in fig. 1, which may be performed by the positioning device 120 in the implementation environment shown in fig. 1. As shown in fig. 5, the positioning method includes S310, S510-S520, and S320-S330, which are described in detail as follows:

S510, obtaining the distance between the position indicated by the first positioning information and the boundary of the designated area.

For specific examples of the designated areas, please refer to the foregoing descriptions, and no further description is given here.

After the first positioning information of the object to be positioned is detected, a distance between the position indicated by the first positioning information and the boundary of the designated area may be acquired.

And S520, if the acquired distance is smaller than a preset distance threshold, determining that the first positioning information is matched with the set position feature.

If the distance between the position indicated by the first positioning information and the boundary of the designated area is smaller, the fact that the object to be positioned is located near the boundary of the designated area is indicated, and the positioning error probability is higher, so that in order to improve the positioning accuracy, the first positioning information is determined to be matched with the set position characteristics, and the target positioning information of the object to be positioned is determined according to the first positioning information and the second positioning information.

It should be noted that: specific implementation details of S310-S330 shown in fig. 5 may refer to S310-S330 shown in fig. 3, and will not be described here again.

In the embodiment shown in fig. 5, if the distance between the location indicated by the first positioning information and the boundary of the designated area is smaller than the preset distance threshold, it is determined that the first positioning information is matched with the set location feature, so that the accuracy of the object to be positioned can be determined based on the first positioning information and the second positioning information, and the positioning accuracy of the edge of the designated area is improved.

In an exemplary embodiment, referring to fig. 6, fig. 6 is a flow chart of a positioning method shown in another exemplary embodiment of the present application. The method may be applied to the implementation environment shown in fig. 1, which may be performed by the positioning device 120 in the implementation environment shown in fig. 1. As shown in fig. 6, the positioning method includes S310, S610-S620, and S330, which are described in detail as follows:

s610, if the first positioning information is matched with the set position characteristics, acquiring authority information of the object to be positioned.

In this embodiment, corresponding rights are set for different objects.

In order to determine whether the object to be positioned has the authority to enter the designated area, if the first positioning information is matched with the set position characteristics, acquiring the authority information of the object to be positioned.

S620, if the object to be positioned is determined to not have the authority to enter the designated area according to the authority information, second positioning information is acquired.

If the object to be positioned does not have the authority to enter the instruction area according to the authority information of the object to be positioned, in order to more accurately acquire the position of the object to be positioned, whether the object to be positioned enters the designated area or not is determined, second positioning information is acquired, and therefore target positioning information of the object to be positioned is determined according to the first positioning information and the second positioning information.

Optionally, if it is determined that the object to be positioned has the authority to enter the designated area according to the authority information of the object to be positioned, in order to save resources, the second positioning information may not be acquired, and the first positioning information may be directly used as the target positioning information of the object to be positioned; of course, in other examples, in order to make the acquired position information more accurate, even if the authority information of the object to be positioned determines that the object to be positioned has the authority to enter the instruction area, the second positioning information may be acquired so as to determine the target positioning information of the object to be positioned according to the first positioning information and the second positioning information.

Optionally, after determining that the object to be located does not have the authority to enter the designated area according to the authority information and determining the target location information, if determining that the object to be located is located in the designated area according to the target location information, an alarm can be performed, and a specific alarm mode can be flexibly set according to actual needs, for example, a short message can be sent to a manager to prompt and the like.

It should be noted that: specific implementation details of S310 and S330 shown in fig. 6 may refer to S310 and S330 shown in fig. 3, and are not described herein.

In the embodiment shown in fig. 6, if the first positioning information is matched with the set position feature, the authority information of the object to be positioned is obtained, if the object to be positioned is determined to not have the authority of entering the designated area according to the authority information, the second positioning information is obtained, and the target positioning information of the object to be positioned is determined according to the first positioning information and the second positioning information, so that the positioning accuracy is improved, the object entering the designated area is strictly managed, the production and operation safety is ensured, and the resources consumed by positioning can be saved.

In an exemplary embodiment, referring to fig. 7, fig. 7 is a flow chart of a positioning method shown in another exemplary embodiment of the present application. The method may be applied to the implementation environment shown in fig. 1, which may be performed by the positioning device 120 in the implementation environment shown in fig. 1. As shown in fig. 7, the positioning method includes S310, S710-S720, and S330, which are described in detail as follows:

and S710, if the first positioning information is matched with the set position characteristics, sending a positioning request to the control equipment so that the control equipment controls the data acquisition device to move to the target position to acquire scene data.

The positioning request is used to obtain second scene information. The positioning request may include parameters characterizing the target location, e.g. the first positioning information or the target location, so that the control device may control the movement of the data acquisition device to the target location based on the positioning request. The positioning request may further include at least one of third positioning information described later, identification information of an object to be positioned, detection time of the positioning information, map identification number (Identity document, ID), and the like.

The control device is used for controlling the data acquisition device, and can be any terminal or server with a control function.

If the data acquisition device is a movable device, the positioning device can generate a positioning request and send the positioning request to the control equipment after determining that the first positioning information is matched with the set position characteristics; the control device may control the data acquisition device to move to the target location based on the positioning request, thereby acquiring the scene data.

Optionally, if the number of the data acquisition devices is multiple, the control device may select the target data acquisition device from the multiple data acquisition devices based on the positioning request, and control the target data acquisition device to move to the target position to acquire the scene data. The specific selection mode can be flexibly set according to actual needs, and in one example, the target data acquisition device can be a data acquisition device with the smallest distance between the target data acquisition device and the target position.

S720, obtaining second positioning information of the object to be positioned, which is determined according to the acquired scene data.

After the data acquisition device acquires the scene data, the positioning device can acquire second positioning information of the object to be positioned according to the acquired scene data.

Optionally, after the data acquisition device acquires the scene data, the scene data may be sent to the control device, and the control device determines the second positioning information based on the scene data acquired by the data acquisition device, and sends the second positioning information to the positioning device. Or after the data acquisition device acquires the scene data, the second positioning information can be determined based on the scene data acquired by the data acquisition device, and the second positioning information is sent to the positioning device. Or, after the data acquisition device acquires the scene data, the scene data may be sent to the positioning device, and the positioning device determines the second positioning information based on the scene data acquired by the data acquisition device.

It should be noted that: specific implementation details of S310 and S330 shown in fig. 7 may refer to S310 and S330 shown in fig. 3, and are not described herein.

In the embodiment shown in fig. 7, if the first positioning information is matched with the set position feature, a positioning request is sent to the control device, so that the control device controls the data acquisition device to move to the target position to acquire scene data, and second positioning information of the object to be positioned, which is determined according to the acquired scene data, is acquired, so that the data acquisition device acquires data under the control of the positioning device, and the resource consumption of the data acquisition device is reduced.

In an exemplary embodiment, referring to fig. 8, fig. 8 is a flow chart of a positioning method shown in another exemplary embodiment of the present application. The method may be applied to the implementation environment shown in fig. 1, which may be performed by the positioning device 120 in the implementation environment shown in fig. 1. As shown in fig. 8, the positioning method includes S310, S810-S820, S720, and S330, which are described in detail as follows:

and S810, if the first positioning information is matched with the set position characteristics, generating a positioning request according to the first positioning information, wherein the positioning request comprises a first position in a designated area corresponding to the first positioning information and a second position in an adjacent area of the designated area.

Specific examples of the designated area may be referred to the foregoing description, and will not be repeated here.

The first location is located within the designated area and the second location is located outside the designated area. The first location may be a location indicated by the first positioning information or a location near the location indicated by the first positioning information; the second position may be a position symmetrical to the first position based on a boundary of the designated area; alternatively, the second location may be historical positioning information of the object to be positioned, and the location indicated by the historical positioning information is located in an area adjacent to the designated area, for example, the second location may be a location indicated by third positioning information described later.

If the first positioning information is matched with the set position characteristics, a positioning request is generated according to the first positioning information, wherein the positioning information comprises a first position and a second position.

In this embodiment, the positioning device determines the first position and the second position according to the first positioning information, and in other embodiments, the first positioning information may be loaded into the positioning request, so that the control device determines the first position and the second position according to the first positioning information.

S820, sending the positioning request to the control device so that the control device controls the data acquisition device to move to the first position and the second position respectively to acquire scene data, wherein the scene data is used for determining second position information of the object to be positioned.

After the positioning device generates a positioning request, the positioning request is sent to the control equipment, and the control equipment controls the data acquisition device to move to the first position and the second position respectively according to the positioning request to acquire scene data, so that whether an object to be positioned is positioned in or out of a specified area can be detected based on the scene data.

It should be noted that, in other embodiments, the data acquisition device may also be moved only to the first position or the second position to acquire the scene data, so as to determine, according to the acquired scene data, whether the object to be positioned is located in the designated area or outside the designated area.

It should be noted that: specific implementation details of S310 and S330 shown in fig. 8 may refer to S310 and S330 shown in fig. 3, and specific implementation details of S710 shown in fig. 8 may refer to S710 shown in fig. 7, which are not described herein.

In the embodiment shown in fig. 8, if the first positioning information is matched with the set position feature, a positioning request is generated according to the first positioning information, where the positioning request includes a first position in a designated area corresponding to the first positioning information and a second position in an adjacent area of the designated area, and the positioning request is sent to the control device, so that the control device controls the data acquisition device to move to the first position and the second position to acquire scene data, and it can be determined more accurately whether the object to be positioned is located in the designated area or outside the designated area based on the scene data, thereby improving positioning accuracy.

In an exemplary embodiment, referring to fig. 9, fig. 9 is a flow chart of a positioning method shown in another exemplary embodiment of the present application. The method may be applied to the implementation environment shown in fig. 1, which may be performed by the positioning device 120 in the implementation environment shown in fig. 1. As shown in fig. 9, the positioning method includes S310, S710, S910, and S330, which are described in detail as follows:

s910, receiving second positioning information sent by the control equipment, wherein the second positioning information is determined by the control equipment according to the scene data acquired by the data acquisition device.

After the data acquisition device moves to the target position to acquire scene data, the acquired scene data can be sent to the control equipment; the control device determines second positioning information based on the received scene data and transmits the second positioning information to the positioning device.

It should be noted that: specific implementation details of S310 and S330 shown in fig. 9 may refer to S310 and S330 shown in fig. 3, and specific implementation details of S710 shown in fig. 9 may refer to S710 shown in fig. 7, which are not described herein.

In the embodiment shown in fig. 9, the control device determines the second positioning information of the object to be positioned according to the scene data acquired by the data acquisition device, so as to reduce the processing pressure of the data acquisition device and improve the acquisition speed of the positioning information.

In an exemplary embodiment, referring to fig. 10, fig. 10 is a flow chart of a positioning method shown in another exemplary embodiment of the present application. The method may be applied to the implementation environment shown in fig. 1, which may be performed by the positioning device 120 in the implementation environment shown in fig. 1. As shown in fig. 10, the positioning method includes S310, S710, S1010, and S330, which are described in detail as follows:

s1010, receiving second positioning information sent by the control equipment, wherein the second positioning information is determined by the data acquisition device according to the scene data acquired by the data acquisition device.

After the data acquisition device moves to the target position to acquire scene data, second positioning information can be determined according to the data acquired by the data acquisition device, and the second positioning information is sent to the positioning device.

Alternatively, the data acquisition device may send the second positioning information directly to the positioning device, or send the second positioning information to the positioning device through the control device.

It should be noted that: specific implementation details of S310 and S330 shown in fig. 10 may refer to S310 and S330 shown in fig. 3, and specific implementation details of S710 shown in fig. 10 may refer to S710 shown in fig. 7, which are not described herein.

In the embodiment shown in fig. 10, the second positioning information of the object to be positioned is determined by the data acquisition device according to the scene data acquired by the data acquisition device, so that the processing pressure of the control device is reduced.

In an exemplary embodiment, referring to fig. 11, fig. 11 is a flow chart of a positioning method shown in another exemplary embodiment of the present application. The method may be applied to the implementation environment shown in fig. 1, which may be performed by the positioning device 120 in the implementation environment shown in fig. 1. As shown in fig. 11, the positioning method includes S1110-S1120, and S310-S330, which are described in detail as follows:

s1110, acquiring positioning information of at least one object at a target position, wherein the positioning information of the at least one object is determined according to scene data acquired by the data acquisition device at the target position.

Before the second positioning information of the object to be positioned is acquired, the data acquisition device can move, if the data acquisition device moves to the target position, scene data can be acquired, and the positioning information of at least one object can be determined according to the scene data.

Alternatively, the positioning information of the at least one object may be determined by the control platform, the data acquisition device or the positioning device according to the scene data acquired by the data acquisition device.

S1120, storing the positioning information of at least one object into a database to search the second positioning information of the object to be positioned from the database.

After the positioning information of at least one object is obtained, it may be stored in a database, and in S320, second positioning information of the object to be positioned may be found out from the database.

In the embodiment shown in fig. 11, S1110-S1120 are executed first, and S310 is executed second, and in other embodiments, S310 may be executed first, and S1110-S1120 may be executed second, or S310 and S1110-S1120 may be executed simultaneously, where in this embodiment, the order of execution of S310 and S1110-S1120 is not limited.

It should be noted that: specific implementation details of S310-S330 shown in fig. 11 may refer to S310-S330 shown in fig. 3, and will not be described here again.

In the embodiment shown in fig. 11, the data acquisition device may actively acquire the scene data, so that positioning information of at least one object may be determined according to the scene data, and the positioning information of at least one object may be stored in a database of the positioning device, and the positioning device may directly search out second positioning information of the object to be positioned from the database, thereby improving positioning efficiency.

In an exemplary embodiment, referring to fig. 12, fig. 12 is a flow chart of a positioning method shown in another exemplary embodiment of the present application. The method may be applied to the implementation environment shown in fig. 1, which may be performed by the positioning device 120 in the implementation environment shown in fig. 1. As shown in fig. 12, the positioning method includes S310-S320 and S1210-S1220, which are described in detail as follows:

S1210, if the area where the object to be positioned is located is determined to be not matched with the area where the first positioning information belongs according to the second positioning information, obtaining third positioning information, where the area is matched with the area where the object to be positioned is located, from the historical positioning information of the object to be positioned.

The historical positioning information is the positioning information of the object to be positioned, which is determined before the first positioning information is detected.

If the area where the object to be positioned is located is not matched with the area where the first positioning information belongs to according to the second positioning information, for example, the second positioning information indicates that the object to be positioned is located in a designated area, the first positioning information indicates that the object to be positioned is located in an adjacent area of the designated area, or the second positioning information indicates that the object to be positioned is located in an adjacent area of the designated area, the first positioning information indicates that the first positioning information is located in the designated area, and in order to correct the first positioning information, third positioning information, where the area to be positioned is matched with the area where the object to be positioned, can be obtained from the historical positioning information of the object to be positioned.

Optionally, in order to avoid a situation that the time interval is too long, resulting in low positioning accuracy, the third positioning information includes historical positioning information, where the area to which the third positioning information belongs matches the area where the object to be positioned is located, and the time difference between the detection of the third positioning information and the detection of the first positioning information is smaller than a preset value.

S1220, the third positioning information is used as the target positioning information of the object to be positioned.

After the third positioning information is obtained, the third positioning information can be used as target positioning information of the object to be positioned, so that the positioning information of the object to be positioned is corrected.

It should be noted that: specific implementation details of S310-S320 shown in fig. 12 may refer to S310-S320 shown in fig. 3, and will not be described here again.

In the embodiment shown in fig. 12, if it is determined that the area where the object to be positioned is located does not match the area where the first positioning information belongs according to the second positioning information, third positioning information, where the area where the object to be positioned is located matches the area where the object to be positioned is located, is obtained from the historical positioning information of the object to be positioned, and the third positioning information is used as the target positioning information of the object to be positioned, so that the first positioning information is corrected based on the historical positioning information, and the positioning accuracy is improved.

In an exemplary embodiment, referring to fig. 13, fig. 13 is a flowchart of a positioning method shown in another exemplary embodiment of the present application. The method may be applied to the implementation environment shown in fig. 1, which may be performed by the positioning device 120 in the implementation environment shown in fig. 1. As shown in fig. 13, the positioning method may include S310-S320 and S1310-S1320, which are described in detail as follows:

S1310, comparing the first positioning information with the second positioning information.

After the first positioning information and the second positioning information are determined, the first positioning information and the second positioning information can be compared.

S1320, if the first positioning information is not matched with the second positioning information, the second positioning information is taken as target positioning information.

If the comparison result is that the first positioning information and the second positioning information are not matched, for example, the area to which the second positioning information belongs is not matched with the area to which the first positioning information belongs, the second positioning information can be used as target positioning information.

It should be noted that: specific implementation details of S310-S320 shown in fig. 13 may refer to S310-S320 shown in fig. 3, and will not be described here again.

In the embodiment shown in fig. 13, the first positioning information and the second positioning information are compared, and if the first positioning information and the second positioning information are not matched, the second positioning information is used as target positioning information, so that positioning accuracy is improved.

In an exemplary embodiment, referring to fig. 14, fig. 14 is a flow chart of a positioning method shown in another exemplary embodiment of the present application. The method may be applied to the implementation environment shown in fig. 1, which may be performed by the positioning device 120 in the implementation environment shown in fig. 1. As shown in fig. 14, the positioning method may include S310, S1410, and S330, which are described in detail as follows:

S1410, if the first positioning information matches the set position feature, the second positioning information of the object to be positioned detected from the image captured at the target position is acquired.

If the scene data comprises an image shot at the target position, that is, the data acquisition device acquires the scene data through the camera, the positioning information of the object to be positioned is detected according to the shot image, and the second positioning information is obtained. The positioning device acquires positioning information determined according to the image.

In other embodiments, the data acquisition device may also acquire scene data via infrared, radar, or the like.

It should be noted that: specific implementation details of S310 and S330 shown in fig. 14 may refer to S310 and S330 shown in fig. 3, and are not described herein.

In the embodiment shown in fig. 14, if the first positioning information is matched with the set position feature, the second positioning information of the object to be positioned detected according to the image shot at the target position is obtained, so that the second positioning information of the object to be positioned is determined based on the visual detection technology, and the positioning accuracy is improved.

In an exemplary embodiment, referring to fig. 15, fig. 15 is a flowchart of a positioning method shown in another exemplary embodiment of the present application. In this embodiment, taking the object to be positioned to carry the UWB terminal, the positioning device is a UWB positioning device, the data acquisition device is a mobile robot, and the control device is a robot control device for illustration, as shown in fig. 15, the positioning method includes S1501-S1510, which are described in detail as follows:

S1501, the UWB terminal transmits the UWB positioning reference signal outwards.

In order to enable the UWB positioning device to position the UWB terminal and thus the object to be positioned, in this embodiment, the UWB terminal may send an UWB positioning reference signal to the outside based on UWB technology, and the UWB positioning reference signal is used to measure the position of the UWB terminal.

Optionally, the UWB positioning reference signal may be a periodic nanosecond pulse signal, which is mainly used for measuring accurate arrival time and arrival angle by the UWB base station.

S1502, the UWB base station measures UWB positioning reference signals to obtain measurement data, and sends the measurement data to a UWB positioning device.

And the UWB base station arranged near the UWB positioning device receives the UWB positioning reference signal sent by the UWB terminal, measures the related parameters of the received UWB positioning reference signal, and sends the measured data to the UWB positioning device.

Alternatively, the UWB base station may measure the arrival time of the UWB positioning reference signal and send the arrival time to the UWB positioning device; alternatively, the UWB base station may measure the angle of arrival of the UWB positioning reference signal and transmit the angle of arrival to the UWB positioning device.

S1503, the UWB positioning device determines the positioning information of the UWB terminal according to the measurement data, and obtains the first positioning information of the object to be positioned.

After receiving the measurement parameters reported by each base station, the UWB positioning device determines the positioning information of the UWB terminal according to the measurement parameters, thereby obtaining the positioning information of the object to be positioned, and taking the positioning information as first positioning information.

Alternatively, the first positioning information may be three-dimensional position coordinates. The UWB positioning device may take the received measurement parameters as input to a positioning algorithm and determine the first positioning information based on the positioning algorithm. If the measured parameter contains the arrival time of the UWB positioning reference signal, the positioning algorithm may be a TDOA positioning algorithm; if the measured parameter comprises the time of arrival of the UWB positioning reference signal, the positioning algorithm may be an AOA positioning algorithm.

S1504, the UWB positioning device acquires third positioning information of an object to be positioned, and determines whether the object to be positioned moves between a designated area and an adjacent area of the designated area according to the third positioning information and the first positioning information; the third positioning information comprises positioning information which is obtained from the historical positioning information of the object to be positioned and has a detection time difference smaller than a preset time threshold value with the first positioning information.

The third positioning information may be positioning information which is determined based on the measurement parameter and in which a time difference between the detection time and the detection time of the first positioning information is smaller than a preset threshold before the first positioning information is detected. Optionally, if the UWB positioning reference signal is periodically sent, the corresponding UWB positioning device periodically determines positioning information of the object to be positioned according to the measurement parameter, and the third positioning information may be positioning information of the object to be positioned detected in a previous period of the first positioning information.

The designated area can be an area with higher security level, which needs to strictly control the entered person or object to ensure the production and operation safety; for example, it may be a data center, an intelligent factory, etc.

In this embodiment, in order to improve the positioning accuracy of the area, the UWB positioning device determines whether the object to be positioned moves between the specified area and the adjacent area of the specified area according to the third positioning information and the first positioning information, that is, determines whether the object to be positioned moves across the area according to the third positioning information and the first positioning information. Because there is typically only one wall separation between the designated area and the adjacent areas of the designated area, cross-domain movement may also characterize "through-the-wall" movement.

S1505, if yes, the UWB positioning device sends a positioning request to the robot control device.

The positioning request includes information such as an ID number of the UWB terminal (for identifying the UWB terminal), positioning information of an object to be positioned (including the first positioning information and the third positioning information), a detection time of the positioning information, a map ID number (for identifying which map is), a wall number (for identifying which wall is being moved through), whether a door is present in N meters (the value of N may be 1 meter, 5 meters, etc., and may be represented by 0, 1, for example, 0 represents whether or not, and 1 represents whether or not). Wherein, the mobile robot can be controlled to move between the designated area and the adjacent area of the designated area based on the information of whether there is a door within N meters.

S1506, the robot control device sends an acquisition instruction to the mobile robot according to the positioning request, where the acquisition instruction includes a first position located in the specified area and a second position located in an adjacent area of the specified area.

The robot control device may determine a mobile robot closest to the object to be positioned according to the position information of the object to be positioned and the map ID number included in the positioning request, and send an acquisition instruction to the robot, where the acquisition instruction includes the target position and the navigation path. The target position may include a first position located in the designated area and a second position located in an adjacent area, so that the mobile robot moves to the first position and the second position, respectively, to detect whether the object to be positioned is located in the designated area or the adjacent area. Alternatively, the first position may be a position indicated by the first positioning information, and the second position may be a position indicated by the third positioning information.

S1507, the mobile robot moves to the first position and the second position respectively according to the acquisition instruction to acquire data, and the acquired data is sent to the robot control equipment.

The mobile robot can collect data according to infrared rays, cameras, radars and the like and send the collected data to the robot control equipment.

S1508, the robot control device determines second positioning information of the object to be positioned according to the data acquired by the mobile robot.

The robot control equipment determines positioning information of the object to be positioned according to the acquired data, if the positioning information is the same as the area to which the first positioning information belongs, the object to be positioned is indicated to move across the domain, if the positioning information is different from the area to which the first positioning information belongs, the object to be positioned is indicated to not move across the domain, and the second positioning information is determined according to the detection result. The second positioning information may include an ID number of the UWB terminal, a detection result of whether to perform cross-domain movement (may be represented by 0, 1, for example, 0 indicates that no cross-domain movement is performed, 1 indicates that cross-domain movement is performed), a data acquisition time, acquired data (for example, pictures, videos, etc.).

Optionally, if there are multiple objects at the target position, the robot control device may determine which object is the object to be positioned first, and then determine positioning information of the object to be positioned based on the collected data of the object to be positioned. Alternatively, a mapping relationship between the face features and the UWB terminal ID numbers may be stored in advance, and then, the object to be located and the UWB terminal ID number carried by the object to be located are determined based on the face recognition technology.

S1509, the robot control device transmits the second positioning information to the UWB positioning device.

S1510, the UWB positioning device determines target positioning information of the object to be positioned according to the second positioning information and the first positioning information.

And if the second positioning information identifier does not perform cross-domain movement, taking the third positioning information as target positioning information, and if the second positioning information identifier performs cross-domain movement, taking the first positioning information as target positioning information.

By the positioning method shown in fig. 15, the positioning accuracy in the designated area can be improved.

In an exemplary embodiment, referring to fig. 16, fig. 16 is a flow chart of a positioning method shown in another exemplary embodiment of the present application. In this embodiment, taking the object to be positioned to carry the UWB terminal, the positioning device is a UWB positioning device, the data acquisition device is a mobile robot, and the control device is a robot control device for illustration, as shown in fig. 16, the positioning method includes S1601-S1610, which is described in detail below:

S1601, the UWB terminal transmits a UWB positioning reference signal outwards.

S1602, the UWB base station measures UWB positioning reference signals to obtain measurement data, and sends the measurement data to the UWB positioning device.

S1603, the UWB positioning device determines the positioning information of the UWB terminal according to the measurement data, and obtains the first positioning information of the object to be positioned.

S1604, the UWB positioning device acquires third positioning information of the object to be positioned, and determines whether the object to be positioned moves between a designated area and an adjacent area of the designated area according to the third positioning information and the first positioning information; the third positioning information comprises positioning information which is obtained from the historical positioning information of the object to be positioned and has a detection time difference smaller than a preset time threshold value with the first positioning information.

S1605, if yes, the UWB positioning device sends a positioning request to the robot control apparatus.

S1606, the robot control device transmits an acquisition instruction to the mobile robot according to the positioning request, the acquisition instruction including a first position located within the specified area and a second position located in an adjacent area of the specified area.

S1607, the mobile robot moves to a first position and a second position respectively according to the acquisition instruction to acquire data, and determines second positioning information of the object to be positioned according to the acquired data.

The mobile robot determines positioning information of an object to be positioned according to the acquired data, if the positioning information is the same as the area to which the first positioning information belongs, the object to be positioned is indicated to move across the domain, if the positioning information is different from the area to which the first positioning information belongs, the object to be positioned is indicated to not move across the domain, and the second positioning information is determined according to the detection result. The second positioning information may include an ID number of the UWB terminal, a detection result of whether to perform cross-domain movement (may be represented by 0, 1, for example, 0 indicates that no cross-domain movement is performed, 1 indicates that cross-domain movement is performed), a data acquisition time, acquired data (for example, pictures, videos, etc.).

Optionally, if there are multiple objects at the target position, the mobile robot may determine which object is the object to be positioned first, and then determine positioning information of the object to be positioned based on the collected data of the object to be positioned. Alternatively, a mapping relationship between the face features and the UWB terminal ID numbers may be stored in advance, and then, the object to be located and the UWB terminal ID number carried by the object to be located are determined based on the face recognition technology.

S1608, the mobile robot transmits the second positioning information to the robot control apparatus.

S1609, the robot control apparatus transmits the second positioning information to the UWB positioning device.

S1610, the UWB positioning device determines target positioning information of the object to be positioned according to the second positioning information and the first positioning information.

By the positioning method shown in fig. 16, the positioning accuracy in the designated area can be improved.

In an exemplary embodiment, referring to fig. 17, fig. 17 is a flow chart of a positioning method shown in another exemplary embodiment of the present application. In this embodiment, taking the object to be positioned to carry the UWB terminal, the positioning device is a UWB positioning device, the data acquisition device is a mobile robot, and the control device is a robot control device for illustration, as shown in fig. 17, the positioning method includes S1701-S1708, which are described in detail as follows:

s1701, after the mobile robot moves to a target position matched with the designated area, object detection data are sent to the robot control platform according to the collected data.

The object detection data may include a mobile robot number, a data acquisition position of the mobile robot, a data acquisition time, an ID of at least one object (for example, an ID of a UWB terminal carried by the object), position information of at least one object, and acquired data.

S1702, the robot control device determines positioning information of at least one object according to the object detection data, and transmits the positioning information of the at least one object to the UWB positioning device.

The robot control device may determine, according to the map, a wall body and an area to which each object corresponds according to position information of at least one object in the object detection data, and determine positioning information of each object according to the area number and the wall body number, where the positioning information may include an ID of the object, position information, the area number, the wall body number, a position detection time, and the like.

S1703, the UWB positioning device stores positioning information of at least one object.

The UWB positioning device may store positioning information of at least one object to a database.

S1704, the UWB terminal transmits the UWB positioning reference signal outwards.

S1705, the UWB base station measures UWB positioning reference signals to obtain measurement data, and sends the measurement data to the UWB positioning device.

S1706, the UWB positioning device determines positioning information of the UWB terminal according to the measurement data, and obtains first positioning information of the object to be positioned.

S1707, the UWB positioning device searches second positioning information of the object to be positioned from the database.

The UWB positioning device may find out second positioning information of the object to be positioned, whose data acquisition time matches the detection time of the first positioning information, from the database based on the ID of the UWB terminal.

In step S1708, if the areas corresponding to the first positioning information and the second positioning information are different, the UWB positioning device uses the second positioning information as the target positioning information of the object to be positioned.

And if the first positioning information is not matched with the second positioning information, taking the second positioning information as target positioning information of the object to be positioned.

By the positioning method shown in fig. 17, the positioning accuracy in the designated area can be improved.

Referring to fig. 18, fig. 18 is a block diagram of a positioning device shown in an exemplary embodiment of the present application. As shown in fig. 18, the apparatus includes:

a detection module 1801 configured to detect first positioning information of an object to be positioned;

the obtaining module 1802 is configured to obtain second positioning information of an object to be positioned if the first positioning information is matched with the set position feature; the second positioning information comprises positioning information determined according to scene data acquired at a target position corresponding to the first positioning information;

a determining module 1803 is configured to determine target positioning information of the object to be positioned according to the first positioning information and the second positioning information.

In another exemplary embodiment, the acquisition module 1802 includes:

the sending module is configured to send a positioning request to the control equipment so that the control equipment controls the data acquisition device to move to a target position to acquire scene data;

the positioning information acquisition module is configured to acquire second positioning information of the object to be positioned, which is determined according to the acquired scene data.

In another exemplary embodiment, the transmitting module includes:

the generation module is configured to generate a positioning request according to the first positioning information, wherein the positioning request comprises a first position in a designated area corresponding to the first positioning information and a second position in an adjacent area of the designated area;

And the sending unit is configured to send the positioning request to the control equipment so that the control equipment controls the data acquisition device to move to the first position and the second position respectively to acquire scene data, and the scene data is used for determining second position information of the object to be positioned.

In another exemplary embodiment, the positioning information acquisition module includes:

the information receiving module is configured to receive second positioning information sent by the control equipment, and the second positioning information is determined by the control equipment according to the scene data acquired by the data acquisition device.

the information receiving unit is configured to receive second positioning information sent by the control equipment, and the second positioning information is determined by the data acquisition device according to the scene data acquired by the data acquisition device.

In another exemplary embodiment, the apparatus further comprises:

the information acquisition module is configured to acquire positioning information of at least one object at a target position, and the positioning information of the at least one object is determined according to scene data acquired by the data acquisition device at the target position;

and the storage module is configured to store the positioning information of at least one object into the database so as to search the second positioning information of the object to be positioned from the database.

In another exemplary embodiment, the determining module 1803 includes:

the searching module is configured to acquire third positioning information of which the area is matched with the area where the object to be positioned is located from the historical positioning information of the object to be positioned if the area where the object to be positioned is located is not matched with the area where the first positioning information is located according to the second positioning information;

and the positioning information determining module is configured to take the third positioning information as target positioning information of the object to be positioned.

In another exemplary embodiment, the determining module 1803 includes:

the comparison module is configured to compare the first positioning information with the second positioning information;

and a positioning information determining unit configured to take the second positioning information as target positioning information if the first positioning information and the second positioning information are not matched.

In another exemplary embodiment, the apparatus further comprises:

the historical positioning information acquisition module is configured to acquire historical positioning information of an object to be positioned; the time difference between the detection time of the historical positioning information and the detection time of the first positioning information is smaller than a preset time threshold;

and the movement detection module is configured to determine that the first positioning information is matched with the set position characteristics if the object to be positioned is determined to move between the designated area and the adjacent area of the designated area according to the first positioning information and the historical positioning information.

In another exemplary embodiment, the apparatus further comprises:

the distance determining module is configured to acquire the distance between the position indicated by the first positioning information and the boundary of the designated area;

and the matching module is configured to determine that the first positioning information is matched with the set position feature if the acquired distance is smaller than a preset distance threshold.

In another exemplary embodiment, the acquisition module 1802 includes:

the permission information acquisition module is configured to acquire permission information of the object to be positioned if the first positioning information is matched with the set position characteristics;

and the permission determination module is configured to acquire second positioning information if the object to be positioned is determined to not have permission to enter the designated area according to the permission information.

In another exemplary embodiment, the acquisition module 1802 includes:

and a visual positioning information acquisition module configured to acquire second positioning information of the object to be positioned detected from the image captured at the target position.

It should be noted that, the positioning device provided in the foregoing embodiment and the positioning method provided in the foregoing embodiment belong to the same concept, and a specific manner in which each module and unit perform an operation has been described in detail in the method embodiment, which is not described herein again.

The embodiment of the application also provides electronic equipment, which comprises: one or more processors; and a memory for storing one or more computer programs that, when executed by the one or more processors, cause the electronic device to implement the positioning methods provided in the various embodiments described above.

Fig. 19 shows a schematic diagram of a computer system suitable for use in implementing the electronic device of the embodiments of the present application. The electronic device may be a terminal device or a server as shown in fig. 1.

It should be noted that, the computer system 1900 of the electronic device shown in fig. 19 is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present application.

As shown in fig. 19, the computer system 1900 includes a central processing unit (Central Processing Unit, CPU) 1901 that can perform various appropriate actions and processes, such as performing the positioning method described in the above embodiment, according to a computer program stored in a Read-Only Memory (ROM) 1902 or a computer program loaded from a storage section 1908 into a random access Memory (Random Access Memory, RAM) 1903. In the RAM 1903, various computer programs and data required for system operation are also stored. The CPU 1901, ROM 1902, and RAM 1903 are connected to each other via a bus 1904. An Input/Output (I/O) interface 1905 is also connected to bus 1904.

In some embodiments, the following components are connected to I/O interface 1905: an input section 1906 including a keyboard, a mouse, and the like; an output portion 1907 including a Cathode Ray Tube (CRT), a liquid crystal display (Liquid Crystal Display, LCD), and a speaker; a storage portion 1908 including a hard disk or the like; and a communication section 1909 including a network interface card such as a LAN (Local Area Network ) card, a modem, or the like. The communication section 1909 performs communication processing via a network such as the internet. The driver 1910 is also connected to the I/O interface 1905 as needed. Removable media 1911, such as magnetic disks, optical disks, magneto-optical disks, semiconductor memories, and the like, are installed on drive 1910 as needed so that a computer program read therefrom is installed into storage portion 1908 as needed.

In particular, according to an embodiment of the present application, a computer program implementing the positioning method may be carried on a computer readable medium, the computer program may be downloaded and installed from a network through the communication portion 1909, and/or installed from the detachable medium 1911.

It should be noted that, the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-Only Memory (ROM), an erasable programmable read-Only Memory (Erasable Programmable Read Only Memory, EPROM), flash Memory, an optical fiber, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable signal medium may comprise a propagated data signal with a computer readable program embodied therein, either in baseband or as part of a carrier wave, and the propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic signals, optical signals, or any suitable combination of the foregoing. The computer program embodied by a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.

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

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

Another aspect of the present application also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor of an electronic device, causes the electronic device to implement a positioning method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment or may exist alone without being incorporated in the electronic device.

Another aspect of the present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the positioning method provided in the various embodiments described above. Wherein the computer program may be stored in a computer readable storage medium.

The foregoing is merely a preferred exemplary embodiment of the present application and is not intended to limit the embodiments of the present application, and those skilled in the art may make various changes and modifications according to the main concept and spirit of the present application, so that the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method of positioning, the method comprising:

Detecting first positioning information of an object to be positioned;

2. The method of claim 1, wherein the obtaining the second positioning information of the object to be positioned comprises:

sending a positioning request to control equipment so that the control equipment controls a data acquisition device to move to the target position to acquire scene data;

and acquiring second positioning information of the object to be positioned, which is determined according to the acquired scene data.

3. The method of claim 2, wherein the sending a location request to a control device comprises:

generating a positioning request according to the first positioning information, wherein the positioning request comprises a first position in a designated area corresponding to the first positioning information and a second position in an adjacent area of the designated area;

And sending the positioning request to the control equipment so that the control equipment controls the data acquisition device to move to the first position and the second position respectively to acquire scene data, wherein the scene data is used for determining second position information of the object to be positioned.

4. The method of claim 2, wherein the acquiring second positioning information of the object to be positioned determined from the acquired scene data comprises:

and receiving the second positioning information sent by the control equipment, wherein the second positioning information is determined by the control equipment according to the scene data acquired by the data acquisition device.

5. The method of claim 2, wherein the acquiring second positioning information of the object to be positioned determined from the acquired scene data comprises:

and receiving the second positioning information sent by the control equipment, wherein the second positioning information is determined by the data acquisition device according to the scene data acquired by the data acquisition device.

6. The method of claim 1, wherein prior to said obtaining second positioning information of said object to be positioned, the method further comprises:

Acquiring positioning information of at least one object at the target position, wherein the positioning information of the at least one object is determined according to scene data acquired by a data acquisition device at the target position;

and storing the positioning information of the at least one object into a database so as to search the second positioning information of the object to be positioned from the database.

7. The method of claim 1, wherein the determining target positioning information for the object to be positioned based on the first positioning information and the second positioning information comprises:

if the area where the object to be positioned is located is not matched with the area where the first positioning information belongs according to the second positioning information, acquiring third positioning information of which the area is matched with the area where the object to be positioned is located from the historical positioning information of the object to be positioned;

and taking the third positioning information as target positioning information of the object to be positioned.

8. The method of claim 1, wherein the determining target positioning information for the object to be positioned based on the first positioning information and the second positioning information comprises:

Comparing the first positioning information with the second positioning information;

and if the first positioning information is not matched with the second positioning information, the second positioning information is used as the target positioning information.

9. The method of claim 1, wherein the method further comprises:

acquiring historical positioning information of the object to be positioned; wherein, the time difference between the detection time of the historical positioning information and the detection time of the first positioning information is smaller than a preset time threshold;

and if the object to be positioned moves between the designated area and the adjacent area of the designated area according to the first positioning information and the historical positioning information, determining that the first positioning information is matched with the set position characteristic.

10. The method of claim 1, wherein the method further comprises:

acquiring the distance between the position indicated by the first positioning information and the boundary of the designated area;

if the acquired distance is smaller than a preset distance threshold, determining that the first positioning information is matched with the set position feature.

11. The method of claim 1, wherein the obtaining the second positioning information of the object to be positioned if the first positioning information matches the set position feature comprises:

If the first positioning information is matched with the set position characteristics, acquiring the authority information of the object to be positioned;

and if the object to be positioned does not have the authority to enter the designated area according to the authority information, acquiring the second positioning information.

12. A positioning device, the device comprising:

13. An electronic device, comprising:

one or more processors;

a memory for storing one or more computer programs that, when executed by the one or more processors, cause the electronic device to implement the positioning method of any of claims 1-11.

14. A computer readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor of an electronic device, causes the electronic device to implement the positioning method of any of claims 1-11.

15. A computer program product comprising a computer program which, when executed by a processor, implements the positioning method of any of claims 1-11.