Positioning method and positioning device of electronic equipment and mowing system
Through the combination of panoramic maps and local images, the use of drones and sensors to determine the location of electronic equipment is solved, the problems of insufficient map information and instability in electronic equipment positioning are improved, positioning efficiency and accuracy are simplified, and hardware needs are simplified.
Patent Information
- Application Number
- CN202411039263.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-31
- Publication Date
- 2024-12-13
AI Technical Summary
The existing electronic device positioning methods rely on two-dimensional maps and GPS/base stations, and there are problems of insufficient map information and unstable signal, resulting in inaccurate positioning, large hardware computing power consumption, and insufficient efficiency and accuracy.
Using a combination of panoramic maps and local images, wide-angle and depth images are obtained through drones, integrated into a panoramic map, and local images are obtained using sensors. By matching the size, depth and angle information of the target, electronic devices are determined in the panoramic map. to avoid dependence on obstacle scanning and GPS/base station.
It improves the positioning efficiency and accuracy of electronic devices, simplifies the hardware computing power requirements, and solves the problems of incomplete information and signal dependence in two-dimensional maps.
Smart Images
Figure CN119124185A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of positioning technology, and in particular to a positioning method, a positioning device and a mowing system for an electronic device. Background Art
[0002] In related technologies, electronic devices (such as sweepers, food delivery machines, lawn mowers, etc.) need to move, which is generally based on path planning on two-dimensional maps, and then combined with GPS, base stations, target detection and other methods to achieve the positioning of electronic devices in the two-dimensional map, thereby realizing path planning and navigation.
[0003] However, two-dimensional maps have the problem of insufficient map information, and the above method relies on the positioning of GPS or base stations. The complex algorithm will put great pressure on the hardware, and if the positioning is inaccurate due to signal problems, the control of electronic equipment will also be affected. Summary of the invention
[0004] The present application provides a positioning method, a positioning device and a mowing system for an electronic device, which can improve the positioning efficiency and accuracy of the electronic device.
[0005] On the one hand, the present application provides a positioning method for an electronic device, which positioning method includes: acquiring a panoramic map and a local image; wherein the panoramic map includes pixel information and depth information, and the local image includes first size information and first distance information of a reference target; determining a matching target that matches the reference target in the panoramic map; and determining the position of the electronic device in the panoramic map according to the second size information of the matching target, the depth information of the matching target, the angle information of the matching target, the first size information of the reference target, and the first distance information of the reference target.
[0006] In one embodiment, obtaining a panoramic map and a local image includes: obtaining a wide-angle image and a depth image sent by a drone, the wide-angle image is taken by a wide-angle camera installed on the drone, the depth image is taken by a depth camera installed on the drone, and the wide-angle image and the depth image are fused to obtain a panoramic map; and obtaining a local image sent by an electronic device, the local image is collected by a sensor installed on the electronic device.
[0007] In one embodiment, the sensor is at least one of a binocular vision camera, a laser sensor or a millimeter wave sensor.
[0008] In one embodiment, obtaining a partial image sent by an electronic device includes: obtaining the partial image sent by the electronic device, an edge position angle, and first distance information of a reference target; and determining first size information of the reference target based on the edge position angle and the first distance information of the reference target.
[0009] In one embodiment, determining a matching target that matches a reference target in a panoramic map includes: starting to rotate based on an origin of the panoramic map, matching the reference target in the panoramic map, and determining a matching target that matches the reference target in the panoramic map.
[0010] In one embodiment, matching the reference target in the panoramic map includes: rotating and / or translating the local image, and matching the rotated and / or translated reference target in the panoramic map; or rotating and / or translating the panoramic map, and matching the reference target in the rotated and / or translated panoramic map.
[0011] In one embodiment, the position of the electronic device in the panoramic map is determined based on the second size information of the matching target, the depth information of the matching target, the angle information of the matching target, the first size information of the reference target, and the first distance information of the reference target, including: determining the second distance information of the electronic device and the matching target in the panoramic map based on the proportional relationship between the first size information and the second size information, and the first distance information of the reference target; determining the third distance information of the electronic device and the origin in the panoramic map based on the depth information and the second distance information of the matching target; and determining the position of the electronic device in the panoramic map based on the third distance information and the angle information of the matching target.
[0012] On the other hand, the present application provides a positioning device for an electronic device, which positioning device includes: an acquisition module, used to acquire a panoramic map and a local image; wherein the panoramic map includes pixel information and depth information, and the local image includes first size information and first distance information of a reference target; a matching module, used to determine a matching target that matches the reference target in the panoramic map; and a positioning module, used to determine the position of the electronic device in the panoramic map based on the second size information of the matching target, the depth information of the matching target, the angle information of the matching target, the first size information of the reference target, and the first distance information of the reference target.
[0013] On the other hand, the present application provides a positioning device for an electronic device, the positioning device includes a processor and a memory, the memory is used to store program data, and the processor is used to execute the program data to implement the positioning method of the electronic device as described above.
[0014] On the other hand, the present application provides a lawn mowing system, which includes: a drone, which is provided with a wide-angle camera and a depth camera, the wide-angle camera is used to obtain wide-angle images, the depth camera is used to obtain depth images, and the wide-angle images and the depth images are used to fuse to obtain a panoramic map; a lawn mower, which is provided with a sensor for obtaining local images, the local images including first size information and first distance information of a reference target; a positioning device, which is connected to the drone and the lawn mower, and the positioning device is used to determine the position of the lawn mower according to the positioning method of the electronic device as described above.
[0015] The positioning method of the electronic device provided in the present application includes: obtaining a panoramic map and a local image; wherein the panoramic map includes pixel information and depth information, and the local image includes the first size information and the first distance information of the reference target; determining the matching target that matches the reference target in the panoramic map; determining the position of the electronic device in the panoramic map according to the second size information of the matching target, the depth information of the matching target, the angle information of the matching target, the first size information of the reference target, and the first distance information of the reference target. Through the above method, a panoramic map that can provide depth information (distance information) is used to solve the problem of incomplete dimensional information of conventional two-dimensional maps. Then, through an image randomly taken by the electronic device, the positioning of the electronic device in the panoramic map can be realized, without the need for the device to scan a large number of obstacles, and without the need for the cooperation of GPS and base stations. The above positioning method is simple and will not affect the computing power of the hardware, thereby improving the efficiency and accuracy of positioning. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.
[0017] Figure 1 It is a flowchart of an embodiment of a positioning method for an electronic device provided by the present application;
[0018] Figure 2 is a schematic diagram of the optical path of a binocular vision camera of an electronic device in one embodiment;
[0019] Figure 3 is a schematic diagram of matching a local image and a panoramic map in one embodiment;
[0020] Figure 4 is a schematic diagram of rotation and / or translation of a local image or a panoramic map in one embodiment;
[0021] Figure 5is a schematic diagram of the optical path for comparing a panoramic map and a local image in one embodiment;
[0022] Figure 6 is a flow chart of step S13 in one embodiment;
[0023] Figure 7 is a schematic diagram of the position of an electronic device in a panoramic map in an embodiment;
[0024] Figure 8 It is a structural schematic diagram of a first embodiment of a positioning device for an electronic device provided by the present application;
[0025] Fig. 9 is a structural schematic diagram of a second embodiment of a positioning device for an electronic device provided by the present application;
[0026] Fig.10 It is a structural schematic diagram of an embodiment of a computer-readable storage medium provided by the present application;
[0027] Fig.11 It is a structural schematic diagram of an embodiment of a mowing system provided by the present application. DETAILED DESCRIPTION
[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.
[0029] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.
[0030] “A and / or B” includes the following three combinations: A only, B only, and a combination of A and B.
[0031] The use of "suitable for" or "configured to" in this application is meant to be open and inclusive language, which does not exclude devices that are suitable for or configured to perform additional tasks or steps. In addition, the use of "based on" is meant to be open and inclusive, because the process, step, calculation or other action "based on" one or more stated conditions or values can be based on additional conditions or values beyond the stated values in practice.
[0032] In this application, the word "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described in this application as "exemplary" is not necessarily to be construed as being preferred or advantageous over other embodiments. The following description is given to enable any technician in the field to implement and use the present application. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art can recognize that the present application can be implemented without using these specific details. In other instances, well-known structures and processes will not be elaborated in detail to avoid obscuring the description of the present application with unnecessary details. Therefore, the present application is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in the present application.
[0033] See also Figure 1 , Figure 1 1 is a flow chart of an embodiment of a method for positioning an electronic device provided by the present application, the method comprising:
[0034] S11: Acquire a panoramic map and a local image; wherein the panoramic map includes pixel information and depth information, and the local image includes first size information and first distance information of a reference target.
[0035] Among them, panoramic maps are also called 360-degree panoramic maps and panoramic view maps. Panoramic maps are maps that simulate three-dimensional images into three-dimensional effects of real objects. Panoramic images contain information about objects in all directions. Viewers can drag the map to view the effects of real objects from different angles.
[0036] The local image is acquired by an electronic device, and the first distance information refers to the distance between the electronic device and the reference target.
[0037] Optionally, in one embodiment, S11 may include: acquiring a wide-angle image and a depth image sent by a drone, the wide-angle image being taken by a wide-angle camera installed on the drone, the depth image being taken by a depth camera installed on the drone, and fusing the wide-angle image and the depth image to obtain a panoramic map; and acquiring a local image sent by an electronic device, the local image being collected by a sensor installed on the electronic device.
[0038] It can be understood that a wide-angle camera and a depth camera are installed on the drone, wherein the wide-angle camera is used to obtain a wide-angle image, and the depth camera is used to obtain a depth image. Optionally, the depth camera can be a binocular vision camera. Specifically, the drone is pre-controlled to take multi-directional photos in the target area to obtain a wide-angle image and a depth image, the wide-angle image includes pixel information, the depth image includes pixel information and depth information (distance information), and a panoramic map can be obtained by fusing the wide-angle image and the depth image.
[0039] Optionally, the drone can maintain the panoramic map at a certain frequency, that is, repeatedly execute the above method to update the panoramic map after a period of time to avoid changes in objects in the target area.
[0040] It is understandable that a sensor is installed on the electronic device, wherein the sensor is used to obtain a local image. Optionally, the sensor is at least one of a binocular vision camera, a laser sensor or a millimeter wave sensor.
[0041] Optionally, for a binocular vision camera, in one embodiment, a local image, an edge position angle, and first distance information of a reference target sent by an electronic device are obtained; and first size information of the reference target is determined based on the edge position angle and the first distance information of the reference target.
[0042] like Figure 2 As shown, Figure 2 : is a schematic diagram of the optical path of a binocular vision camera of an electronic device in an embodiment, wherein the image height is H1, the focal length is f1, the first distance obtained by ranging is d1, and the edge position angle of the binocular vision camera is If the ranging direction is along angle θ, then Then the first size h1 can be calculated.
[0043] Optionally, for a laser sensor, the laser sensor may specifically include a laser distance measuring device and a laser steering device, and the laser steering device may adjust the angle at which the laser distance measuring device emits laser light. Figure 2 The principle is the same as above, except that the angle θ is replaced by the angle at which the laser ranging device emits the laser, which will not be elaborated here.
[0044] In one application scenario, a binocular vision camera and a laser sensor may be installed on an electronic device at the same time. For example, the binocular vision camera may be used to obtain the first size information and the first distance information of the reference target. If the image captured by the binocular vision camera cannot obtain the corresponding first size information and the first distance information, such as due to low light, the laser sensor may be turned on to obtain the corresponding information.
[0045] S12: Determine a matching target that matches the reference target in the panoramic map.
[0046] It can be understood that the purpose of the partial image obtained in step S11 is to capture the target so as to perform matching in step S12. Optionally, the initial image obtained in step S11 may include more information, for example, including target A and target B, and only the partial image including target A can be extracted from the initial image by contour extraction.
[0047] Optionally, in an embodiment, S12 may include: starting to rotate based on the origin of the panoramic map, matching the reference target in the panoramic map, and determining a matching target that matches the reference target in the panoramic map.
[0048] like Figure 3 As shown, Figure 3 This is a schematic diagram of matching a local image and a panoramic map in an embodiment, wherein the panoramic map is traversed with the origin of the panoramic map as a reference point to gradually obtain matching targets that match the reference targets in the local image.
[0049] Optionally, the above method can adopt the "big image find small image" algorithm, also known as the "small image with big image" algorithm. In the field of computer vision, image matching is a very important task. One of the common problems is to find the location of a small image in a large image. This problem is very useful in many applications, such as object detection, image recognition and image search. The goal of the image matching algorithm is to find the location of a small image in a large image. This algorithm can usually be divided into the following steps:
[0050] 1. Load large images (panoramic maps) and small images (local images).
[0051] 2. Compare the small image with the large image and find the matching location.
[0052] 3. Mark the matching position and display the results.
[0053] In a specific application, the following method can be used: read the large image and the small image and convert them into grayscale images. Define a sliding window, slide it in the large image, and compare the pixels in the window with the small image. Calculate the difference between the pixels in the window and the pixels in the small image to obtain a matching degree. Save the matching degree in a matrix, the size of the matrix is the same as the large image. Find the position with the maximum matching degree in the matrix, that is, provide a variety of template matching algorithms for the position of the small image in the large image, including square difference matching, normalized square difference matching, correlation matching, and normalized correlation matching. Different algorithms are suitable for different scenarios, and the appropriate algorithm needs to be selected according to the actual situation.
[0054] Optionally, since the large image in this embodiment is a panoramic map, in another embodiment, step S12 may include: rotating and / or translating the local image, and matching the rotated and / or translated reference target in the panoramic map; or rotating and / or translating the panoramic map, and matching the reference target in the rotated and / or translated panoramic map.
[0055] like Figure 4 As shown, Figure 4 It is a schematic diagram of the rotation and / or translation of a local image or a panoramic map in an embodiment. It can be understood that since the images obtained by different camera shooting angles are also different, the panoramic map or the local image can be gradually rotated or translated to achieve matching between the local image and the panoramic map.
[0056] S13: Determine the position of the electronic device in the panoramic map according to the second size information of the matching target, the depth information of the matching target, the angle information of the matching target, the first size information of the reference target, and the first distance information of the reference target.
[0057] like Figure 5 As shown, Figure 5 It is a schematic diagram of the light path comparison between a panoramic map and a local image in one embodiment.
[0058] For the local image, the image height is H1, the focal length is f1, the first distance measured is d1, and the edge position angle of the binocular vision camera is If the ranging direction is along angle θ, then Then the first size h1 can be calculated.
[0059] For the panoramic map, the image height is H2, the focal length is f2, the second size of the target is h2, and the depth camera edge position angle θ = arctanHf22. If the ranging direction is along the angle θ, then
[0060] like Figure 6 As shown, Figure 6 : is a flow chart of step S13 in one embodiment, and S13 may specifically include:
[0061] S131: Determine second distance information between the electronic device and a matching target in the panoramic map according to a proportional relationship between the first size information and the second size information and first distance information of a reference target.
[0062] Among them, S131 is used to calibrate the object-image relationship between the binocular vision camera of the electronic device and the depth camera of the drone.
[0063] Specifically, according to the above Figure 5 And the corresponding analysis, we can get:
[0064]
[0065] Among them, the first size h1 has been calculated in the above introduction, the second size h2 can be directly obtained from the panoramic map, and the first distance d1 is the existing data contained in the local image (obtained by a binocular vision camera or laser ranging). Then, the second distance d2 can be calculated using the above formula.
[0066] S132: Determine third distance information between the electronic device and the origin in the panoramic map according to the depth information and the second distance information of the matching target.
[0067] S133: Determine the position of the electronic device in the panoramic map according to the third distance information and the angle information of the matching target.
[0068] like Figure 7 As shown, Figure 7 It is a schematic diagram of the position of an electronic device in a panoramic map in one embodiment. It can be understood that in one embodiment, if the position of the electronic device is the origin, then the depth information between the electronic device and the matching target corresponds to the second distance. In another embodiment, if the position of the electronic device is not the origin, then the third distance information h3 between the origin and the electronic device can be obtained based on the depth information and the second distance of the matching target, and then the position of the electronic device in the panoramic map can be determined based on the angle of the matching target relative to the origin and the third distance information h3.
[0069] In one application scenario, the above-mentioned electronic device can be a sweeper, a food delivery machine, a lawn mower, etc. Taking a lawn mower as an example, the lawn mower needs to mow pastures, golf courses, football fields and other places. Then, a panoramic map of the above-mentioned places can be obtained through a drone, and then the position of the lawn mower in the panoramic map can be determined, so as to perform subsequent path planning and navigation to realize fully automatic mowing operations.
[0070] In another application scenario, the user terminal can also display a panoramic map. Since the position of the lawn mower in the panoramic map is determined, a three-dimensional perspective image of the corresponding position can be provided according to the position of the lawn mower, thereby realizing manual control of the lawn mower, and the user feels as if they are personally on the scene.
[0071] The positioning method of the electronic device provided in this embodiment includes: obtaining a panoramic map and a local image; wherein the panoramic map includes pixel information and depth information, and the local image includes first size information and first distance information of a reference target; determining a matching target that matches the reference target in the panoramic map; and determining the position of the electronic device in the panoramic map according to the second size information of the matching target, the depth information of the matching target, the angle information of the matching target, the first size information of the reference target, and the first distance information of the reference target. In the above manner, a panoramic map that can provide depth information (distance information) is used to solve the problem of incomplete dimensional information of conventional two-dimensional maps. Then, through an image randomly taken by an electronic device, the positioning of the electronic device in the panoramic map can be realized, without the need for the device to scan a large number of obstacles, and without the need for the cooperation of GPS and base stations. The above positioning method is simple and will not affect the computing power of the hardware, thereby improving the efficiency and accuracy of positioning.
[0072] See also Figure 8 , Figure 8 1 is a schematic diagram of the structure of a first embodiment of a positioning device for an electronic device provided in the present application. The positioning device 200 includes an acquisition module 21 , a matching module 22 and a positioning module 23 .
[0073] Among them, the acquisition module 21 is used to acquire a panoramic map and a local image; wherein the panoramic map includes pixel information and depth information, and the local image includes first size information and first distance information of a reference target; the matching module 22 is used to determine a matching target that matches the reference target in the panoramic map; the positioning module 23 is used to determine the position of the electronic device in the panoramic map based on the second size information of the matching target, the depth information of the matching target, the angle information of the matching target, the first size information of the reference target, and the first distance information of the reference target.
[0074] See also Fig. 9 , Fig. 9 3 is a schematic structural diagram of a second embodiment of a positioning device for an electronic device provided in the present application. The positioning device 300 includes a processor 31 and a memory 32 .
[0075] The memory 32 is used to store program data, and the processor 31 is used to execute the program data to implement the following positioning method for an electronic device:
[0076] Acquire a panoramic map and a local image; wherein the panoramic map includes pixel information and depth information, and the local image includes first size information and first distance information of a reference target; determine a matching target that matches the reference target in the panoramic map; determine the position of the electronic device in the panoramic map according to the second size information of the matching target, the depth information of the matching target, the angle information of the matching target, the first size information of the reference target, and the first distance information of the reference target.
[0077] In one embodiment, the processor 31 is used to execute: acquiring a wide-angle image and a depth image sent by the drone, the wide-angle image is taken by a wide-angle camera installed on the drone, the depth image is taken by a depth camera installed on the drone, and the wide-angle image and the depth image are merged to obtain a panoramic map; and acquiring a local image sent by an electronic device, the local image is collected by a sensor installed on the electronic device.
[0078] In one embodiment, the processor 31 is used to execute: obtaining a local image, an edge position angle, and first distance information of a reference target sent by the electronic device; and determining first size information of the reference target based on the edge position angle and the first distance information of the reference target.
[0079] In one embodiment, the processor 31 is configured to execute: starting to rotate based on the origin of the panoramic map, matching the reference target in the panoramic map, and determining a matching target that matches the reference target in the panoramic map.
[0080] In one embodiment, the processor 31 is used to execute: rotating and / or translating the local image, and matching the rotated and / or translated reference target in the panoramic map; or rotating and / or translating the panoramic map, and matching the reference target in the rotated and / or translated panoramic map.
[0081] In one embodiment, the processor 31 is used to execute: determining the second distance information between the electronic device and the matching target in the panoramic map based on the proportional relationship between the first size information and the second size information, and the first distance information of the reference target; determining the third distance information between the electronic device and the origin in the panoramic map based on the depth information and the second distance information of the matching target; determining the position of the electronic device in the panoramic map based on the third distance information and the angle information of the matching target.
[0082] See also Fig.10 , Fig.10 4 is a schematic diagram of a computer-readable storage medium according to an embodiment of the present application. The computer-readable storage medium 400 stores program data 41. When the program data 41 is executed by a processor, it is used to implement the following method:
[0083] Acquire a panoramic map and a local image; wherein the panoramic map includes pixel information and depth information, and the local image includes first size information and first distance information of a reference target; determine a matching target that matches the reference target in the panoramic map; determine the position of the electronic device in the panoramic map according to the second size information of the matching target, the depth information of the matching target, the angle information of the matching target, the first size information of the reference target, and the first distance information of the reference target.
[0084] In one embodiment, when the program data 41 is executed by the processor, it is used to achieve: obtaining a wide-angle image and a depth image sent by a drone, the wide-angle image is taken by a wide-angle camera installed on the drone, the depth image is taken by a depth camera installed on the drone, and the wide-angle image and the depth image are merged to obtain a panoramic map; and obtaining a local image sent by an electronic device, the local image is collected by a sensor installed on the electronic device.
[0085] In one embodiment, when the program data 41 is executed by the processor, it is used to achieve: obtaining a local image, an edge position angle, and first distance information of a reference target sent by an electronic device; and determining the first size information of the reference target based on the edge position angle and the first distance information of the reference target.
[0086] In one embodiment, when the program data 41 is executed by the processor, it is used to achieve: starting to rotate based on the origin of the panoramic map, matching the reference target in the panoramic map, and determining a matching target that matches the reference target in the panoramic map.
[0087] In one embodiment, when the program data 41 is executed by a processor, it is used to achieve: rotating and / or translating a local image, and matching the rotated and / or translated reference target in a panoramic map; or rotating and / or translating a panoramic map, and matching the reference target in the rotated and / or translated panoramic map.
[0088] In one embodiment, when the program data 41 is executed by the processor, it is used to achieve: determining the second distance information between the electronic device and the matching target in the panoramic map based on the proportional relationship between the first size information and the second size information, and the first distance information of the reference target; determining the third distance information between the electronic device and the origin in the panoramic map based on the depth information and the second distance information of the matching target; determining the position of the electronic device in the panoramic map based on the third distance information and the angle information of the matching target.
[0089] See also Fig.11 , Fig.11 is a structural schematic diagram of an embodiment of a mowing system provided in the present application. The mowing system 500 includes a drone 51, a mower 52 and a positioning device 53.
[0090] The drone 51 is provided with a wide-angle camera and a depth camera, the wide-angle camera is used to obtain a wide-angle image, the depth camera is used to obtain a depth image, and the wide-angle image and the depth image are used to fuse to obtain a panoramic map; the lawn mower 52 is provided with a sensor, which is used to obtain a local image, and the local image includes the first size information and the first distance information of the reference target; the sensor is at least one of a binocular vision camera, a laser sensor or a millimeter wave sensor. The positioning device 53 connects the drone 51 and the lawn mower 52, and the positioning device 53 is the positioning device of the electronic device introduced in the above embodiment, and the electronic device is the lawn mower 52.
[0091] Optionally, the positioning device 53 can be a base station, a server, a computer, a notebook or a mobile phone. The positioning device 53 and the drone 51 and the lawn mower 52 can be wirelessly connected via Bluetooth, WIFI or cellular data (4G or 5G, etc.).
[0092] The power supply control device, power supply control method and power supply system provided in the embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the idea of the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.
Claims
1. A method for positioning an electronic device, characterized in that: The positioning method comprises: Acquire a panoramic map and a local image; wherein the panoramic map includes pixel information and depth information, and the local image includes first size information and first distance information of a reference target; Determining a matching target that matches the reference target in the panoramic map; The position of the electronic device in the panoramic map is determined according to the second size information of the matching target, the depth information of the matching target, the angle information of the matching target, the first size information of the reference target, and the first distance information of the reference target.
2. The method for locating an electronic device according to claim 1, characterized in that: The obtaining of the panoramic map and the local image comprises: Acquire a wide-angle image and a depth image sent by a drone, wherein the wide-angle image is taken by a wide-angle camera installed on the drone, and the depth image is taken by a depth camera installed on the drone, and fuse the wide-angle image and the depth image to obtain a panoramic map; and A partial image sent by the electronic device is acquired, where the partial image is collected by a sensor installed on the electronic device.
3. The method for locating an electronic device according to claim 2, characterized in that: The sensor is at least one of a binocular vision camera, a laser sensor or a millimeter wave sensor.
4. The method for locating an electronic device according to claim 2, characterized in that: The acquiring of the partial image sent by the electronic device comprises: Acquire the local image, edge position angle, and first distance information of the reference target sent by the electronic device; The first size information of the reference target is determined according to the edge position angle and the first distance information of the reference target.
5. The method for locating an electronic device according to claim 1, characterized in that: The determining a matching target that matches the reference target in the panoramic map includes: The reference target is matched in the panoramic map by starting rotation based on the origin of the panoramic map, so as to determine a matching target that matches the reference target in the panoramic map.
6. The method for locating an electronic device according to claim 5, characterized in that: The matching the reference target in the panoramic map includes: Rotating and / or translating the local image, and matching the rotated and / or translated reference target in the panoramic map; or The panoramic map is rotated and / or translated, and the reference target is matched in the rotated and / or translated panoramic map.
7. The method for locating an electronic device according to claim 1, characterized in that: The determining the position of the electronic device in the panoramic map according to the second size information of the matching target, the depth information of the matching target, the angle information of the matching target, the first size information of the reference target, and the first distance information of the reference target includes: Determining second distance information between the electronic device and the matching target in the panoramic map according to a proportional relationship between the first size information and the second size information and first distance information of the reference target; determining third distance information between the electronic device and the origin in the panoramic map according to the depth information of the matching target and the second distance information; The position of the electronic device in the panoramic map is determined according to the third distance information and the angle information of the matching target.
8. A positioning device for an electronic device, characterized in that: The positioning device comprises: An acquisition module, used to acquire a panoramic map and a local image; wherein the panoramic map includes pixel information and depth information, and the local image includes first size information and first distance information of a reference target; A matching module, used to determine a matching target that matches the reference target in the panoramic map; A positioning module is used to determine the position of the electronic device in the panoramic map according to the second size information of the matching target, the depth information of the matching target, the angle information of the matching target, the first size information of the reference target and the first distance information of the reference target.
9. A positioning device for an electronic device, characterized in that: The positioning device includes a processor and a memory, the memory is used to store program data, and the processor is used to execute the program data to implement the positioning method of the electronic device according to any one of claims 1 to 7.
10. A mowing system, characterized in that: The mowing system comprises: A drone, wherein a wide-angle camera and a depth camera are provided on the drone, the wide-angle camera is used to obtain a wide-angle image, the depth camera is used to obtain a depth image, and the wide-angle image and the depth image are used to fuse to obtain a panoramic map; A lawn mower, wherein the lawn mower is provided with a sensor for acquiring a local image, wherein the local image includes first size information and first distance information of a reference target; A positioning device is connected to the drone and the lawn mower, and the positioning device is used to determine the position of the lawn mower according to the positioning method of the electronic device according to any one of claims 1 to 7.