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

A technology of computer equipment and positioning methods, which is applied in computing, image analysis, image enhancement, etc., can solve problems such as positioning failure, and achieve the effect of precise positioning and enhanced robustness

Active Publication Date: 2021-08-10
SHANGHAI GAOXIAN AUTOMATION TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a computer equipment positioning method, device, computer equipment and storage medium to realize the positioning of the computer equipment, and solve the problem of failure of positioning caused by excessive changes in the surrounding environment through the data on the top surface of the building where the computer equipment is located. Improving the accuracy of computer equipment positioning

Method used

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

Examples

Experimental program
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Embodiment 1

[0037] image 3 It is a flow chart of a method for locating computer equipment provided by Embodiment 1 of the present invention. This embodiment of the present invention can be applied to the situation of locating computer equipment. The method can be executed by a device for locating computer equipment. The device can use hardware and / or implemented by software, see image 3 , the method of the embodiment of the present invention specifically includes the following steps:

[0038] Step 101. Obtain the top-view data set of the top-view sensor of the computer equipment and the positioning data set of the positioning device, wherein the top-view data set includes the data of the inner top surface of the building where the computer equipment is located.

[0039] Wherein, the top-view sensor can be a sensor that collects the environment where the computer equipment is located, the data collection direction of the top-view sensor can be the top direction of the building where the...

Embodiment 2

[0059] Figure 5 It is a flowchart of a positioning method for computer equipment provided by Embodiment 2 of the present invention, which embodies the above-mentioned embodiment of the invention, determines the time difference through the top-view data set, and determines the initial pose of the positioning data set within the time difference , realize the pose transformation between the top-view dataset and the local map, see Figure 5 , the computer device positioning method provided by the embodiment of the present invention includes the following steps:

[0060] Step 201. Align the time stamps of the top-view sensor and the positioning device.

[0061] In the embodiment of the present invention, the time stamp can be a software and / or hardware device that generates and manages the time information of the top-view sensor and the positioning device, and the alignment of the time stamp can be realized by synchronizing the timers of the top-view sensor and the positioning de...

Embodiment 3

[0084] Image 6 It is a flow chart of a computer device positioning method provided by Embodiment 3 of the present invention, which embodies the above-mentioned embodiment of the invention, see Image 6 , the computer device positioning method provided by the embodiment of the present invention includes the following steps:

[0085] Step 301. Acquire a top-view data set of a top-view sensor of a computer device and a positioning data set of a positioning device, wherein the top-view data set includes data of an inner top surface of a building where the computer device is located.

[0086] Step 302, removing noise data in the top-view data set based on a statistical filter.

[0087] Step 303 : Project the data in the top-view data set to a plane grid coordinate system, and obtain the grid coordinates and height projection of the data in the plane grid coordinate system, wherein the plane grid coordinate system takes the top-view sensor as the origin.

[0088] Wherein, the pla...

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Abstract

The invention discloses a computer equipment positioning method, device, computer equipment and storage medium, wherein the method includes: acquiring a top-view data set of a computer equipment top-view sensor and a positioning data set of a positioning device, wherein the top-view The data set includes the data of the inner top surface of the building where the computer equipment is located; according to the positioning data set, the pose transformation between the top view data set and the local map is determined; according to the pose transformation, the top view The data set is added to the local map; and the location of the computer device on the global map is determined based on the local map after adding the top-view data set. The top-view sensor collects data on the top surface of the building where the computer equipment is located, reduces the impact of environmental changes on the positioning function of the computer equipment, improves the accuracy of determining the location of the computer equipment, and enhances the robustness of the positioning function.

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 computer equipment gradually appears 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, The first thing to be solved is the positioning of the computer equipment. The computer equipment needs to determine its own position through the environment in which it is located, so as to realize the corresponding functions according to the user's preset or immediate instructions. [0003] In the existing technology, computer equipment uses cameras and laser radars to collect data and realize positioning based on the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/73
CPCG06T2207/10028G06T7/74
Inventor 宋乐曾令兵陈侃霍峰秦宝星程昊天
Owner SHANGHAI GAOXIAN AUTOMATION TECH
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