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Computer equipment positioning method and device, computer equipment and storage medium

A technology of computer equipment and positioning methods, applied in computing, image data processing, instruments, etc., can solve problems such as inability to map positioning, robot positioning function failure, and lidar sensor field occlusion.

Active Publication Date: 2020-10-30
SHANGHAI GAOXIAN AUTOMATION TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this method has two disadvantages: when the environment changes greatly, the created map cannot be used for positioning; when the flow of people near the robot is too large, the field of view of the lidar sensor is blocked, causing the robot's positioning function to fail. A Method for Improving Map Location Accuracy and Robustness

Method used

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  • Computer equipment positioning method and device, computer equipment and storage medium
  • Computer equipment positioning method and device, computer equipment and storage medium
  • Computer equipment positioning method and device, computer equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0035] figure 1 It is a flow chart of a method for locating computer equipment provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation of using data on the top surface of a building for locating. The method can be executed by a computer equipment locating device, which can Implemented in hardware and / or software, see figure 1 , the method provided in the embodiment of the present invention specifically includes the following steps:

[0036] Step 101, obtain the top-view data set of the top-view sensor and the head-up data set of the head-up sensor, wherein the top-view data set includes the data of the inner top surface of the building where the computer equipment is located, and the head-up data set includes the building where the computer equipment is located The data of the inner horizontal object.

[0037] Wherein, the top-view sensor and the head-up sensor can be sensors that collect data in the surrounding environment of comput...

Embodiment 2

[0062] Figure 4 It is a flow chart of a computer device positioning method provided by Embodiment 2 of the present invention. The embodiment of the present invention is based on the embodiment of the above embodiment, through the depth constraint feature of the top-view data set and the head-up constraint feature of the head-up data set Determine the target pose, see Figure 4 , the computer device positioning method provided by the embodiment of the present invention includes the following steps:

[0063] Step 201, obtain the top-view data set of the top-view sensor and the head-up data set of the head-up sensor, wherein the top-view data set includes the data of the inner top surface of the building where the computer equipment is located, and the head-up data set includes the data of the building where the computer equipment is located. The data of the inner horizontal object.

[0064] Step 202. Obtain the positioning data set of the positioning device; determine traject...

Embodiment 3

[0098] Figure 5 It is a flow chart of a computing device positioning method provided by Embodiment 3 of the present invention. The embodiment of the present invention is based on the embodiment of the above-mentioned invention, through the outline constraint feature of the top-view data set and the head-up constraint of the head-up data set. Features determine the target pose, see Figure 5 The positioning method of the computer equipment provided by the embodiment of the present invention includes the following steps:

[0099] Step 301, obtain the top-view data set of the top-view sensor and the head-up data set of the head-up sensor, wherein the top-view data set includes the data of the inner top surface of the building where the computer equipment is located, and the head-up data set includes the building where the computer equipment is located The data of the inner horizontal object.

[0100] Step 302. Determine at least one piece of semantic morphological information ...

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PUM

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Abstract

The invention discloses a computer equipment positioning method and device, computer equipment and a storage medium. The method comprises the steps: acquiring a top view data set of a top view sensorand a head-up data set of a head-up sensor, wherein the top view data set comprises data of the inner top face of a building where computer equipment is located, and the head-up data set comprises data of objects in the horizontal direction in the building where the computer equipment is located; determining depth constraint features and / or contour constraint features of the top view data set based on the top view map; determining a head-up constraint feature of the head-up data set based on the head-up map; and determining a target pose of the computer equipment according to the depth constraint feature and / or the contour constraint feature and the head-up constraint feature. According to the embodiment of the invention, the positioning is performed through the data of the inner top surface of the building, the influence of environmental change on the positioning function of the computer equipment is reduced, the positioning accuracy is improved based on the data of the building horizontal object, and the positioning failure of the computer equipment can be reduced.

Description

technical field [0001] The embodiment of the present invention relates to the technical field of automation control, and in particular to a computer equipment positioning method, device, computer equipment and storage medium. Background technique [0002] With the continuous development of science and technology, mobile robots gradually appear in all aspects of life, such as cleaning robots in stations, shopping guide robots in shopping malls, and food delivery robots in restaurants. In order to achieve different functions in different scenarios, first The problem to be solved is the positioning of the robot. The robot needs to determine its own position through its environment, so as to realize the corresponding functions according to the user's preset or immediate instructions. [0003] In the prior art, lidar sensors are often used to detect surrounding objects for mapping and positioning. However, this method has two disadvantages: when the environment changes greatly, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73
CPCG06T7/74G06T2207/10028Y02D10/00
Inventor 宋乐曾令兵陈侃霍峰秦宝星程昊天
Owner SHANGHAI GAOXIAN AUTOMATION TECH