Object positioning method, apparatus and device

Abstract

The application discloses an object positioning method, device and equipment, and belongs to the technical field of positioning. The method is executed by a first device, and the method comprises the following steps: acquiring first position information corresponding to a sought object in a first coordinate system, the first coordinate system being a coordinate system established based on the position of a second device and a reference direction, the second device being a device which respectively establishes a communication connection with the first device and the sought object; acquiring spatial relationship information between the first device and the second device, the spatial relationship information being used for indicating the relative position relationship between the first device and the second device; determining first direction information and first distance information of the sought object relative to the first device based on the first position information and the spatial relationship information; and positioning the sought object based on the first direction information and the first distance information. The second device is introduced to assist the positioning process of the sought object, so that the accuracy of the position of the sought object positioned can be ensured, and the accuracy of the object searching process can be ensured.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and in particular to object positioning methods, devices and equipment. Background Technology

[0002] Using smart devices (such as smartphones) to help users find objects or people is an efficient method of item retrieval. Examples include finding a car in a garage, a lost wearable device at a train station or airport, a wearable device in a multi-room apartment, or locating a companion or store in a shopping mall / tourist area.

[0003] In related technologies, for indoor object finding applications, a smart terminal typically establishes a communication connection with the object being found, and navigation is achieved based on this communication connection. For example, the signal strength of the communication connection can be used to indicate the direction of finding the object; another example is using the ranging function of a single-antenna ultra-wideband (UWB) antenna to indicate the direction of finding the object, or using the phase difference of dual-antenna UWB antennas to calculate the angle to indicate the direction of finding the object.

[0004] However, the above solution relies on the strength and accuracy of the communication connection between the smart terminal and the object being searched. As the distance between the smart terminal and the object being searched increases, the strength and accuracy of the communication connection between the two decreases, which may lead to object location errors or connection failures, thus reducing the accuracy of the object search process. Summary of the Invention

[0005] This application provides an object positioning method, apparatus, and device to solve the problems provided by related technologies. The technical solution is as follows.

[0006] In a first aspect, an object localization method is provided, which is executed by a first device. The method includes: acquiring first position information corresponding to a target object in a first coordinate system, wherein the first coordinate system is a coordinate system established based on the location of a second device and a reference direction, and the second device is a device that establishes communication connections with both the first device and the target object; acquiring spatial relationship information between the first device and the second device, wherein the spatial relationship information is used to indicate the relative positional relationship between the first device and the second device; determining first direction information and first distance information of the target object relative to the first device based on the first position information and the spatial relationship information; and locating the target object based on the first direction information and the first distance information.

[0007] When guiding the search for the location of the target object on the first device, this application establishes a communication connection between the second device and both the first device and the target object. This allows the first device to obtain the first position information corresponding to the target object in the first coordinate system, as well as spatial relationship information representing the relative positional relationship between the first device and the second device. By combining the spatial relationship information and the first position information, the direction and distance of the target object relative to the first device can be determined, thereby enabling the first device to locate the target object. In other words, by introducing the second device to assist in the location process of the target object, and by expanding the location range of the first device in the object-finding process, the accuracy of the located target object can be guaranteed even when the distance between the first device and the target object is relatively far, thus ensuring the accuracy of the object-finding process.

[0008] Optionally, the first device and the second device are directly connected; obtaining spatial relationship information between the first device and the second device includes: receiving second position information corresponding to the first device in a first coordinate system sent by the second device, and using the second position information as spatial relationship information.

[0009] In this application, when the first device and the second device can be directly connected, the second device is used to locate the first device to obtain the second position information of the first device in the first coordinate system. Thus, the second device unifies the position information representing the first device and the target object into the same coordinate system to meet the conditions for determining the relative positional relationship between the first device and the target object. This allows the second device to assist the first device in locating the target object. At the same time, since the second position information is obtained from the second device, the complexity and time cost of the initialization actions of the first device in the object locating process are reduced.

[0010] Optionally, based on the first location information and spatial relationship information, determining the first direction information and the first distance information of the target object relative to the first device includes: obtaining the first distance information based on the first location information indicating the first location corresponding to the target object and the second location information indicating the second location corresponding to the first device; and determining the first direction information based on the first location information and the reference direction.

[0011] Optionally, determining the first direction information based on the first position information and the reference direction includes: obtaining a first angle between the device orientation of the first device and the reference direction; determining a second angle between the second direction of the first position relative to the second device and the reference direction; and obtaining the first direction information based on the difference between the first angle and the second angle.

[0012] In this application, when the first device and the second device can be directly connected, the second device is used to locate the first device and the target object respectively to obtain the position information of the two in the same coordinate system (second coordinate system). Thus, the direction and distance of the target object relative to the first device can be quickly determined in the second coordinate system, which improves the positioning efficiency of the first device when locating the target object, and thus improves the efficiency of finding the target object.

[0013] Optionally, an intermediary node connects the first device and the second device; obtaining spatial relationship information between the first device and the second device includes: obtaining third position information corresponding to the intermediary node in a second coordinate system, wherein the second coordinate system is a coordinate system established based on the location of the first device and the reference direction; obtaining fourth position information corresponding to the intermediary node in the first coordinate system; and using the third position information and the fourth position information as spatial relationship information.

[0014] The connection network provided in this application may also include intermediary nodes. By using the position representations of the intermediary nodes in the first coordinate system and the second coordinate system respectively, the relative positional relationship between the first device and the second device can be determined. This helps to convert the known positional information of the target object relative to the second device into the positional information of the target object relative to the first device, thereby realizing the positioning process of the first device for the target object. Since the intermediary nodes only need to have connection and transmission functions, their corresponding hardware costs are low. That is, it is possible to set up intermediary nodes at low cost to expand the target object search range of the first device.

[0015] Optionally, based on the first position information and spatial relationship information, determining the first direction information and first distance information of the target object relative to the first device includes: determining the coordinate transformation relationship between the first coordinate system and the second coordinate system based on the third position information and the fourth position information; determining the fifth position information of the target object in the second coordinate system based on the first position information and the coordinate transformation relationship, wherein the fifth position information is used to indicate the third position corresponding to the target object; obtaining the first distance information based on the distance between the third position corresponding to the target object and the fourth position corresponding to the first device; and determining the first direction information based on the fifth position information and the reference direction.

[0016] Optionally, based on the fifth position information and the reference direction, the first direction information is determined, including: determining the third direction of the third position relative to the first device; determining the third included angle between the third included angle and the reference direction; determining the fourth included angle between the device orientation of the first device and the reference direction; and determining the first direction information based on the third included angle and the fourth included angle.

[0017] Optionally, obtaining the third position information corresponding to the intermediate node in the second coordinate system includes: establishing a second coordinate system based on the position of the first device and the reference direction of the first device, wherein the position of the first device is used to indicate the position of the first device in the physical environment; and performing triangulation on the intermediate node based on the second coordinate system to obtain the third position information.

[0018] In the process of locating the target object using an intermediary node and a second device, this application establishes a coordinate transformation relationship between the second coordinate system of the first device and the first coordinate system of the second device by using the positioning results of the first device and the second device on the intermediary node. The obtained coordinate transformation relationship is used to convert the first position information of the target object detected by the second device in the first coordinate system into the fifth position information in the second coordinate system. Thus, the direction and distance of the target object relative to the first device are obtained in the second coordinate system, and the target object's locating range is expanded by using the intermediary node.

[0019] Optionally, when the second device and the target object are directly connected, the second device is used to obtain the first location information through triangulation during the movement of the second device; when a third device is connected between the second device and the target object, the second device is used to establish a communication connection with at least one third device to form a connection path with the target object, and obtain the first location information through at least one third device, and at least one third device establishes a communication connection with the target object.

[0020] When the second device can directly connect to the object being searched, this application uses the second device to perform triangulation on the object being searched to quickly obtain the position information of the object being searched relative to the second device, thereby assisting the first device in locating the object being searched. When the second device needs to connect to the object being searched through a third device, the position information of the object being searched relative to the second device is obtained by converting the positioning result of the object being searched by the third device, thereby assisting the first device in locating the object being searched. Thus, the second device can provide object-finding assistance for the first device in different scenarios, ensuring the stability of the second device in assisting the object-finding process and ensuring the accuracy of the object-finding process.

[0021] Optionally, the method further includes: in the case that a communication connection cannot be established with the second device, establishing a communication connection with n intermediary nodes, wherein the communication connection between the second device, the n intermediary nodes and the target object forms a target connection path, where n is a positive integer; displaying the target object-finding guidance information corresponding to the target object based on the target connection path, wherein the target object-finding guidance information is used to guide the first device to move toward the target object.

[0022] In cases where the first device is unable to establish a communication connection with the second device, this application provides an intermediary node to assist in finding objects. In other words, the intermediary node assists the first device in moving toward the object being searched, thereby expanding the search range of the first device.

[0023] Optionally, displaying the locator guidance information corresponding to the locator object based on the target connection path includes: obtaining the i-th position information corresponding to the i-th intermediary node in the second coordinate system through the i-th communication connection with the i-th intermediary node among n intermediary nodes, where the second coordinate system is a coordinate system established based on the location of the first device and the reference direction, and i is a positive integer; displaying the i-th guidance information corresponding to the i-th intermediary node based on the i-th position information, where the i-th guidance information is used to guide the first device to move towards the i-th intermediary node; and displaying the locator guidance information corresponding to the i-th intermediary node based on the i-th position information. When a communication connection is established, the (i+1)th position information corresponding to the (i+1)th intermediary node in the second coordinate system is obtained through the (i+1)th communication connection; based on the (i+1)th position information, the (i+1)th guidance information corresponding to the (i+1)th intermediary node is displayed, and the (i+1)th guidance information is used to guide the second device to move towards the (i+1)th intermediary node; if the first device can establish the (n+1)th communication connection with the target object, the sixth position information corresponding to the target object in the second coordinate system is obtained through the (n+1)th communication connection; based on the sixth position information, the target object locating guidance information corresponding to the target object is displayed.

[0024] When this application provides object-finding assistance to the first device through an intermediary node, a connection path is formed between the first device and the object being searched through the intermediary node. The first device is guided to move towards the intermediary node by locating the intermediary node, thereby enabling the first device to connect to the next intermediary node on the connection path, until a connection can be established with the object being searched for object-finding guidance. Even when there is no auxiliary device in the scene that can locate the object being searched, the accuracy of object-finding can be guaranteed in scenarios with a long distance.

[0025] Optionally, establishing communication connections with n intermediary nodes includes: obtaining at least two candidate connection paths between the target object and the target object; selecting the connection path that meets the preset conditions from the at least two candidate connection paths as the target connection path, the target connection path including n intermediary nodes; and establishing communication connections with the n intermediary nodes in the target connection path.

[0026] When providing object-finding assistance to the first device through an intermediary node, this application filters multiple candidate connection paths provided by preset conditions, thereby improving the object-finding efficiency when providing object-finding guidance through the intermediary node.

[0027] Optionally, the connection path that meets the preset conditions among at least two candidate connection paths is selected as the target connection path, including: obtaining navigation performance information corresponding to at least two candidate connection paths, wherein the navigation performance information is used to indicate the information in the candidate connection paths that has an impact on the navigation process; and selecting the target connection path from at least two candidate connection paths based on the navigation performance information.

[0028] Optionally, the navigation performance information includes at least one of the following: the number of intermediate nodes in the candidate connection path; the stability of the connection signal between devices in the candidate connection path; the road connectivity information corresponding to the location of the intermediate node in the candidate connection path; the path distance information corresponding to the candidate connection path; and the ranging accuracy of the first device for the intermediate node in the candidate connection path.

[0029] When this application provides object-finding assistance to the first device through an intermediary node, it evaluates the navigation performance of each candidate connection path to filter the candidate connection paths, thereby improving the object-finding efficiency and avoiding guiding the second device to the wrong area during the object-finding process.

[0030] Secondly, an object positioning device is provided, the device comprising:

[0031] The acquisition module is used to acquire the first position information corresponding to the target object in the first coordinate system. The first coordinate system is a coordinate system established based on the position and reference direction of the second device. The second device is a device that establishes a communication connection with the first device and the target object respectively.

[0032] The acquisition module is also used to acquire spatial relationship information between the first device and the second device, and the spatial relationship information is used to indicate the relative positional relationship between the first device and the second device;

[0033] The determination module is used to determine the first direction information and the first distance information of the target object relative to the first device based on the first location information and spatial relationship information;

[0034] The positioning module is used to locate the target object based on the first direction information and the first distance information.

[0035] Optionally, the first device and the second device are directly connected; the acquisition module is further configured to receive the second position information corresponding to the first device in the first coordinate system sent by the second device, and use the second position information as spatial relationship information.

[0036] Optionally, the determining module is further configured to obtain first distance information based on the first position corresponding to the target object indicated by the first position information and the second position corresponding to the first device indicated by the second position information; the determining module is further configured to determine first direction information based on the first position information and the reference direction.

[0037] Optionally, the determining module is further configured to obtain a first angle between the device orientation of the first device and the reference direction; the determining module is further configured to determine a second angle between the second direction of the first position relative to the second device and the reference direction; the determining module is further configured to obtain first direction information based on the difference between the first angle and the second angle.

[0038] Optionally, an intermediary node is connected between the first device and the second device; the acquisition module is further configured to acquire third position information corresponding to the intermediary node in the second coordinate system, the second coordinate system being a coordinate system established based on the position of the first device and the reference direction; the acquisition module is further configured to acquire fourth position information corresponding to the intermediary node in the first coordinate system; the acquisition module is further configured to use the third position information and the fourth position information as spatial relationship information.

[0039] Optionally, the determining module is further configured to determine the coordinate transformation relationship between the first coordinate system and the second coordinate system based on the third position information and the fourth position information; the determining module is further configured to determine the fifth position information of the sought object in the second coordinate system based on the first position information and the coordinate transformation relationship, wherein the fifth position information is used to indicate the third position corresponding to the sought object; the determining module is further configured to obtain the first distance information based on the distance between the third position corresponding to the sought object and the fourth position corresponding to the first device; and the determining module is further configured to determine the first direction information based on the fifth position information and the reference direction.

[0040] Optionally, the determining module is further configured to determine a third orientation of the third position relative to the first device; the determining module is further configured to determine a third included angle between the third orientation and the reference direction; the determining module is further configured to determine a fourth included angle between the device orientation of the first device and the reference direction; and the determining module is further configured to determine first direction information based on the third included angle and the fourth included angle.

[0041] Optionally, the device further includes: a setup module, configured to establish a second coordinate system based on the location of the first device and a reference direction, wherein the location of the first device indicates the position of the first device in the physical environment; and an acquisition module, further configured to perform triangulation on the intermediary node based on the second coordinate system to obtain third location information. Optionally, when the second device and the target object are directly connected, the second device is used to obtain the first location information through triangulation during the movement of the second device; when a third device is connected between the second device and the target object, the second device is used to establish a communication connection with at least one third device to form a connection path with the target object, and obtain the first location information through at least one third device, wherein at least one third device establishes a communication connection with the target object.

[0042] Optionally, the device further includes:

[0043] The connection module is used to establish communication connections with n intermediary nodes when it is impossible to establish a communication connection with the second device. The communication connection between the second device, the n intermediary nodes and the target object forms the target connection path, where n is a positive integer. The display module is used to display the locator guidance information corresponding to the target object based on the target connection path. The locator guidance information is used to guide the first device to move towards the target object.

[0044] Optionally, the acquisition module is further configured to acquire the i-th position information corresponding to the i-th intermediary node in the second coordinate system through the i-th communication connection with the i-th intermediary node among the n intermediary nodes. The second coordinate system is a coordinate system established based on the location of the first device and the reference direction, where i is a positive integer. The display module is further configured to display the i-th guidance information corresponding to the i-th intermediary node based on the i-th position information. The i-th guidance information is used to guide the first device to move towards the i-th intermediary node. The acquisition module is further configured to, when the first device can establish the i+1th communication connection with the i+1th intermediary node, acquire the i-th position information corresponding to the i-th intermediary node through the i+1th intermediary node. The system uses one communication connection to acquire the (i+1)th position information corresponding to the (i+1)th intermediary node in the second coordinate system; the display module is also used to display the (i+1)th guidance information corresponding to the (i+1)th intermediary node based on the (i+1)th position information, which is used to guide the second device to move towards the (i+1)th intermediary node; the acquisition module is also used to acquire the sixth position information corresponding to the target object in the second coordinate system through the (n+1)th communication connection when the first device can establish the (n+1)th communication connection with the target object; the display module is also used to display the target object locating guidance information based on the sixth position information.

[0045] Optionally, the acquisition module is further configured to acquire at least two candidate connection paths between itself and the target object; the acquisition module is further configured to select the connection path that meets the preset conditions from the at least two candidate connection paths as the target connection path, the target connection path including n intermediary nodes; the connection module is further configured to establish a communication connection with the n intermediary nodes in the target connection path.

[0046] Optionally, the acquisition module is further configured to acquire navigation performance information corresponding to at least two candidate connection paths, wherein the navigation performance information is used to indicate information in the candidate connection paths that have an impact on the navigation process; the acquisition module is further configured to filter out the target connection path from at least two candidate connection paths based on the navigation performance information.

[0047] Optionally, the navigation performance information includes at least one of the following: the number of intermediate nodes in the candidate connection path; the stability of the connection signal between devices in the candidate connection path; the road connectivity information corresponding to the location of the intermediate node in the candidate connection path; the path distance information corresponding to the candidate connection path; and the ranging accuracy of the first device for the intermediate node in the candidate connection path.

[0048] Thirdly, a communication device is provided, comprising: a network interface, a memory, and a processor. The network interface, the memory, and the processor communicate with each other via an internal connection path. The memory stores instructions, and the processor executes the instructions stored in the memory to control the network interface to receive signals and to control the network interface to send signals. Furthermore, when the processor executes the instructions stored in the memory, it causes the processor to perform the method in any possible implementation of the first aspect.

[0049] Optionally, there may be one or more processors and one or more memories.

[0050] Alternatively, the memory can be integrated with the processor, or the memory can be set up separately from the processor.

[0051] Fourthly, a computer program (product) is provided, comprising: computer program code, which, when executed by a computer, causes the computer to perform the methods described in the above aspects.

[0052] Fifthly, a computer-readable storage medium is provided that stores a program or instructions, wherein when the program or instructions are run on a computer, the methods described in the preceding aspects are executed.

[0053] In a sixth aspect, a chip is provided, including a processor for retrieving and executing instructions stored in memory, causing a computer equipped with the chip to perform the methods described in the foregoing aspects.

[0054] In a seventh aspect, another chip is provided, comprising: an input interface, an output interface, a processor, and a memory, wherein the input interface, the output interface, the processor, and the memory are connected via an internal connection path, the processor is used to execute code in the memory, and when the code is executed, a computer with the chip installed performs the methods in the above aspects.

[0055] It should be understood that the object positioning device mentioned in the second aspect and the communication device mentioned in the third aspect can both be chips. Furthermore, the beneficial effects achieved by the technical solutions and corresponding possible implementations of the second to seventh aspects of this application can be found in the above description of the technical effects of the first aspect and its corresponding possible implementations, and will not be repeated here. Attached Figure Description

[0056] Figure 1 This is a structural block diagram of a computer system provided in an embodiment of this application;

[0057] Figure 2This is a schematic diagram of the hardware configuration of a first device provided in an embodiment of this application;

[0058] Figure 3 This is a schematic diagram of the hardware configuration of a target object provided in an embodiment of this application;

[0059] Figure 4 This is a flowchart of an object location method provided in an embodiment of this application;

[0060] Figure 5 This is a flowchart of an object location method provided in an embodiment of this application;

[0061] Figure 6 This is a schematic diagram illustrating the calculation principle of a triangulation method provided in an embodiment of this application;

[0062] Figure 7 This is a flowchart illustrating the execution steps of a triangulation method provided in an embodiment of this application;

[0063] Figure 8 This is a schematic diagram of a network connection provided in an embodiment of this application;

[0064] Figure 9 This is a schematic diagram of a network connection provided in an embodiment of this application;

[0065] Figure 10 This is a flowchart illustrating the operation of a first device and a second device according to an embodiment of this application.

[0066] Figure 11 This is a flowchart of an object location method provided in an embodiment of this application;

[0067] Figure 12 This is a schematic diagram of a network connection provided in an embodiment of this application;

[0068] Figure 13 This is a flowchart illustrating the workflow of a first device, an intermediary node, and a second device, as provided in an embodiment of this application.

[0069] Figure 14 This is a flowchart of an object location method provided in an embodiment of this application;

[0070] Figure 15 This is a schematic diagram of a network connection provided in an embodiment of this application;

[0071] Figure 16 This is a schematic diagram of a locator flow provided in an embodiment of this application;

[0072] Figure 17 This is a schematic diagram of an object positioning device provided in an embodiment of this application;

[0073] Figure 18 This is a schematic diagram of the structure of a computing device provided in an embodiment of this application;

[0074] Figure 19 This is a schematic diagram of the structure of a computing device provided in an embodiment of this application. Detailed Implementation

[0075] The terminology used in the implementation section of this application is for the purpose of explaining specific embodiments of this application only, and is not intended to limit this application.

[0076] Using smart devices (such as smartphones) to assist users in finding items, people, or locations is an efficient method of item retrieval. Examples include finding a car in a garage, a lost pair of headphones / watches at a train station / airport, car keys / wristbands in a multi-room apartment, or locating a companion or shop in a shopping mall / tourist area. This type of item retrieval scenario involves using smart devices to find items, people, or locations with electronic tags within a certain distance (e.g., a radius of 1 km).

[0077] In this embodiment of the application, when guiding the search for the location of the target object on the first device, a connection path is established between the first device and the target object. The first device obtains the first position information corresponding to the target object in the first coordinate system and the spatial relationship information representing the relative positional relationship between the first device and the second device. By combining the spatial relationship information and the first position information, the direction and distance of the target object relative to the first device can be determined, thereby realizing the positioning of the target object by the first device. That is, by introducing the second device to assist in the positioning process of the target object, the positioning range of the first device in the process of finding the target object is expanded by the second device. Even when the distance between the first device and the target object is far, the accuracy of the position of the target object can still be guaranteed, thereby ensuring the accuracy of the finding process.

[0078] Figure 1 A structural block diagram of a computer system provided in an exemplary embodiment of this application is shown. The computer system includes: a first device 110, a second device 120, and a target object 130.

[0079] The first device 110 is a smart terminal device held by a user who has a need to find the object 130 in a locating scenario. Optionally, the device type of the first device 110 includes: smartphones, desktop computers, tablets, laptops, electronic helmets, electronic glasses, Moving Picture Experts Group Audio Layer III (MP3) players, Moving Picture Experts Group Audio Layer IV (MP4) players, etc.

[0080] The second device 120 is an intelligent terminal device that provides collaborative item-finding functionality to the first device 110 in the item-finding scenario. Optionally, the device type of the first device 110 includes: smartphones, desktop computers, tablets, e-book readers, laptops, intelligent robots, intelligent guidance devices, etc.

[0081] The object to be searched 130 is the object being searched in the item search scenario. Optionally, the object to be searched 130 can be an item, a person, or a building. For example, the object to be searched 130 can be a smart wearable device (e.g., a smartwatch, smart bracelet, smart headphones, electronic glasses, etc.), a smart mobile device (e.g., a smartphone, tablet, laptop computer, etc.), a car, a display item with an electronic tag (e.g., merchandise, shelves, etc.), an object or building carrying an electronic device capable of establishing a connection (e.g., a car key, a chair, etc.).

[0082] In this embodiment of the application, a communication connection is established between the first device 110 and the second device 120. Optionally, the communication connection can be implemented as a direct connection or an indirect connection. A communication connection is established between the second device 120 and the target 130. Optionally, the communication connection can be implemented as a direct connection or an indirect connection.

[0083] In some embodiments, when the first device 110 locates the sought object 130 via the second device 120, it guides the user to move towards the sought object 130 by displaying a finding interface 111. Illustratively, the finding interface 111 displays location information 112 for the sought object 130, and directional guidance information 113 pointing to the location information 112. The user can move to the location of the sought object 130 based on the location information 112 and the directional guidance information 113. Optionally, the finding interface 111 also displays distance information 114 between the current location and the location of the sought object. The user can use the distance information 114 to understand the distance between the sought object and the current location, thereby assisting in the finding process.

[0084] In some embodiments, the hardware configuration of the first device 110 is as follows: Figure 2 As shown, it includes a calculation module 210, a connection and ranging module 220, and a relative pose determination module 230.

[0085] The computing module 210 is used for data transmission and processing, providing the device with functions such as positioning calculation.

[0086] The connection and ranging module 220 is used to establish connections with other devices to transmit data and information, such as tag information, angle information, ranging information, road connectivity information, floor information, location description information, and attraction / store information. In some embodiments, the connection and ranging module 220 supports concurrent connections. Optionally, the connection and ranging module 220 can be implemented as Near Link, UWB, Bluetooth, etc.

[0087] The relative pose determination module 230 is used to measure the relative pose and attitude (or angle) of the device itself relative to the starting point. Optionally, the relative pose determination module 230 includes one or more devices such as an inertial measurement unit (IMU), a camera, a light detection and ranging (Lidar), an accelerometer, a gyroscope, an inertial element, and a photoelectric sensor.

[0088] Optionally, the hardware configuration of the first device 110 may also include an absolute attitude determination module 240.

[0089] The absolute attitude determination module 240 is used to determine the absolute angle information between itself and other devices; that is, it is used to unify all connected devices into the same angular coordinate system to confirm the relative angles between the devices. Optionally, the absolute attitude determination module 240 can measure the absolute angle information using at least one of a magnetometer, a global navigation satellite system (GNSS), or real-time kinematic (RTK) positioning technology.

[0090] In some embodiments, the hardware configuration of the second device 120 may be the same as that of the first device 110, and will not be described in detail here.

[0091] In some embodiments, the hardware configuration of the target object 130 is as follows: Figure 3As shown, it includes a connection and ranging module 310. The connection and ranging module 310 is used to establish connections with other devices to transmit data and information, such as tag information, angle information, ranging information, road connectivity information, floor information, location description information, and attraction / store information. In some embodiments, the connection and ranging module 310 supports concurrent connections; optionally, the connection and ranging module 310 can be implemented using methods such as satellite navigation, UWB, and Bluetooth.

[0092] In some embodiments, the computer system 100 may further include an intermediary node, which is an electronic device that provides collaborative item-finding functionality to the first device 110 in the item-finding scenario. Optionally, the intermediary node may be a device with an electronic tag in the item-finding scenario, such as an electronic sign, shelf, electronic tag, elevator terminal, electronic doorplate, etc.

[0093] Optionally, the intermediary node may establish communication connections with the first device 110 and the second device 120 respectively, or establish communication connections with the first device 110 and the target 130 respectively, or establish communication connections with the second device 120 and the target 130 respectively.

[0094] In some embodiments, the hardware configuration of the intermediary node may be the same as that of the target 130, which will not be described in detail here.

[0095] Figure 4 This is a flowchart of an object location method provided in an exemplary embodiment of this application. The method is illustrated using the example of it being executed by the aforementioned first device. Figure 4 As shown, the method includes the following steps.

[0096] Step 410: Obtain the first position information corresponding to the target object in the first coordinate system.

[0097] Among them, the first coordinate system is a coordinate system established based on the location and reference direction of the second device, and the second coordinate system is a coordinate system established with the location and reference direction of the second device as a reference.

[0098] Optionally, the first coordinate system can be implemented as a Cartesian coordinate system, a polar coordinate system, a cylindrical coordinate system, a spherical coordinate system, etc.

[0099] Optionally, the point representing the location of the second device can be implemented as the centroid, center of gravity, geometric center, edge angle, etc. of the second device.

[0100] The reference direction is used to indicate a pre-set specified direction as a reference. For example, the reference direction can be implemented as a basic direction (e.g., east, west, south, north) or as the current orientation of the second device.

[0101] In one example, when the first coordinate system is implemented as a two-dimensional Cartesian coordinate system, the origin of the first coordinate system is taken as the location of the second device, the reference direction is taken as the first axis direction (e.g., the y-axis) of the first coordinate system, and a second axis direction (e.g., the x-axis) perpendicular to the first axis direction is established, thereby obtaining the first coordinate system.

[0102] The second device is a device that establishes communication connections with both the first device and the target object. Illustratively, the second device establishes a first communication connection with the first device; the second device establishes a second communication connection with the target object.

[0103] In some embodiments, when the first communication connection is implemented as a direct communication connection, that is, when the first device and the second device are directly connected, the first device receives the first location information sent by the second device; in other embodiments, when the first communication connection is implemented as an indirect communication connection, that is, when there are other devices connected between the first device and the second device, the first device receives the first location information forwarded by the other devices, that is, the second device sends the first location information to the other devices, and the other devices send the received first location information to the first device.

[0104] The first location information is used to indicate the position of the target object relative to the second device. In one example, the first location information can be implemented as the coordinate point corresponding to the position of the target object in the first coordinate system.

[0105] In some embodiments, the first location information is data obtained by the second device locating the target object. Optionally, the second device can locate the target object using methods such as triangulation, polar positioning, polygonal positioning, Bluetooth positioning, or RFID indoor positioning technology.

[0106] Step 420: Obtain spatial relationship information between the first device and the second device.

[0107] Among them, spatial relationship information is used to indicate the relative positional relationship between the first device and the second device.

[0108] Optionally, the acquisition of the above spatial relationship information can be achieved in at least one of the following ways:

[0109] In the first method, the first device receives the second position information corresponding to the first device in the first coordinate system sent by the second device, and uses the second position information as spatial relationship information.

[0110] In some embodiments, the spatial relationship information described above is used to indicate the position of the first device relative to the second device. In one example, the second position information can be implemented as the coordinate point corresponding to the position of the second device in the first coordinate system.

[0111] In illustrative terms, the second location information is data obtained by the second device locating the first device. Optionally, the positioning method of the second device relative to the first device can be triangulation, polar positioning, polygonal positioning, Bluetooth positioning, RFID indoor positioning technology, etc.

[0112] The second method involves the first device acquiring the third position information corresponding to the specified object in the second coordinate system, and acquiring the fourth position information corresponding to the specified object in the first coordinate system, using the third position information and the fourth position information as spatial relationship information.

[0113] In some embodiments, the aforementioned spatial relationship information is used to indicate the position of a specified object in space relative to a first device and the position of a specified object relative to a second device. The specified object is an electronic device in the scene that can establish communication connections with the first device and the second device respectively. Optionally, the specified object can be implemented as an intermediary node or a collaborative device. The collaborative device is a device with the same or similar hardware structure as the second device.

[0114] Schematic illustration: The second coordinate system is a coordinate system established based on the location and reference direction of the first device. For example, the second coordinate system can be implemented as a Cartesian coordinate system, a polar coordinate system, a cylindrical coordinate system, a spherical coordinate system, etc.

[0115] Optionally, the point representing the location of the first device can be implemented as the centroid, center of gravity, geometric center, edge angle, etc. of the first device.

[0116] A reference direction is used to indicate a pre-set specified direction as a reference. Optionally, the reference direction can be implemented as a basic direction (e.g., east, west, south, north) or as the current orientation of the first device. In one example, the reference direction used to establish the first coordinate system is the same as the reference direction used to establish the second coordinate system; for example, both the reference direction of the first and second coordinate systems is north. In another example, the reference direction used to establish the first and second coordinate systems are different; for example, the reference direction of the first coordinate system is the orientation of the second device when the first coordinate system is established, and the reference direction of the second coordinate system is the orientation of the first device when the second coordinate system is established.

[0117] In one example, when the second coordinate system is implemented as a two-dimensional Cartesian coordinate system, the origin of the second coordinate system is taken as the location of the first device, the reference direction is taken as the first axis direction (e.g., the y-axis) of the second coordinate system, and a second axis direction (e.g., the x-axis) perpendicular to the first axis direction is established, thereby obtaining the second coordinate system.

[0118] Indicatively, the third location information is data obtained by the first device locating the specified object. Optionally, the positioning method of the first device for the specified object can be triangulation, polar method, polygonal method, Bluetooth positioning, radio frequency identification indoor positioning technology, etc.; the fourth location information is data obtained by the second device locating the specified object. Optionally, the positioning method of the second device for the specified object can be triangulation, polar method, polygonal method, Bluetooth positioning, radio frequency identification indoor positioning technology, etc.

[0119] The third method involves the first device acquiring the seventh position information corresponding to the second device in the second coordinate system, and using the seventh position information as spatial relationship information.

[0120] In some embodiments, the spatial relationship information described above is used to indicate the position of the second device relative to the first device.

[0121] In illustrative terms, the seventh location information is data obtained by the first device locating the second device. Optionally, the positioning method of the first device locating the second device can be triangulation, polar positioning, polygonal positioning, Bluetooth positioning, radio frequency identification indoor positioning technology, etc.

[0122] Step 430: Based on the first location information and spatial relationship information, determine the first direction information and the first distance information of the target object relative to the first device.

[0123] The first direction information is used to indicate the direction of the target object relative to the first device; the first distance information is used to indicate the distance between the target object and the first device. Optionally, the first distance information indicates the straight-line distance between the target object and the first device, or the first distance information indicates the distance of the movement path from the location of the first device to the location of the target object.

[0124] Optionally, the determination of the first direction information and the first distance information can be implemented in at least one of the following ways:

[0125] In the first case, when spatial relationship information is used to indicate the position of the first device relative to the second device, the first distance information is obtained based on the first position of the target object indicated by the first position information and the second position of the first device indicated by the second position information (spatial relationship information). Based on the first position information and the reference direction, the first direction information is determined.

[0126] Both the first location information and the second location information are data obtained based on the first coordinate system. That is, the first location information is the coordinate point corresponding to the location of the target in the first coordinate system, and the second location information is the coordinate point corresponding to the location of the second device in the first coordinate system. In the first coordinate system, the distance between the first device and the target is determined by calculating the distance between the coordinate point indicated by the first location information and the coordinate point indicated by the second location information.

[0127] When determining the first direction information, a reference direction is used. The first direction information is obtained by determining the difference between the device orientation of the first device and the reference direction, and the difference between the direction of the first position information relative to the second device and the reference direction. Illustratively, a first angle between the device orientation of the first device and the reference direction is obtained; based on the first position information, a second angle between the second direction of the first position relative to the second device and the reference direction is determined; and the first direction information is obtained based on the difference between the first angle and the second angle.

[0128] The second method involves using spatial relationship information to indicate the position of a specified object relative to the first device and the position of the specified object relative to the second device. By using the third and fourth position information corresponding to the specified object, the coordinate transformation relationship between the first and second coordinate systems is determined. Based on the coordinate transformation relationship, the first position information of the target object in the first coordinate system is converted into the fifth position information in the second coordinate system. Based on the fifth position information and the position of the first device, the first distance information and the first direction information are obtained.

[0129] Since the third and fourth position information represent the coordinate points of the specified object in different coordinate systems, and both the first and second coordinate systems are established based on a reference direction, the coordinate transformation relationship between the first and second coordinate systems can be determined based on the third and fourth position information. Illustratively, based on the third and fourth position information, the coordinate transformation relationship between the first and second coordinate systems is determined; based on the first position information and the coordinate transformation relationship, the fifth position information of the sought object in the second coordinate system is determined, and this fifth position information indicates the third position corresponding to the sought object; based on the distance between the third position corresponding to the sought object and the fourth position corresponding to the first device, the first distance information is obtained; and based on the fifth position information and the reference direction, the first direction information is determined.

[0130] The third method involves determining the coordinate transformation relationship between the first and second coordinate systems based on the seventh position information when the spatial relationship information is used to indicate the position of the second device relative to the first device. According to the coordinate transformation relationship, the first position information of the target object in the first coordinate system is converted into the fifth position information in the second coordinate system. Based on the fifth position information and the position of the first device, the first distance information and the first direction information are obtained.

[0131] Since the first coordinate system is established based on the second device, the origin of the first coordinate system represents the position of the second device in the first coordinate system. The seventh position information is the position of the second device in the second coordinate system. Therefore, based on the third position information and the origin of the first coordinate system, the coordinate transformation relationship between the first and second coordinate systems can be determined. Illustratively, based on the seventh position information and the origin of the first coordinate system, the coordinate transformation relationship between the first and second coordinate systems is determined; based on the first position information and the coordinate transformation relationship, the fifth position information of the target object in the second coordinate system is determined, and this fifth position information indicates the third position corresponding to the target object; based on the distance between the third position corresponding to the target object and the fourth position corresponding to the first device, the first distance information is obtained; based on the fifth position information and the reference direction, the first direction information is determined.

[0132] Step 440: Locate the target object based on the first direction information and the first distance information.

[0133] In some embodiments, guidance information corresponding to the target object is displayed based on the first direction information and the first distance information. The guidance information is used to guide the first device to move toward the target object.

[0134] Optionally, the guidance information includes directional guidance information and distance guidance information. Schematic, directional guidance information is displayed based on the first directional information, and distance guidance information is displayed based on the first distance information.

[0135] Optionally, the directional guidance information can be implemented as at least one of the following forms: text, voice, pattern, and video. In one example, the directional guidance information is represented by an arrow pattern pointing to a fourth direction indicated by the first directional information.

[0136] Optionally, the distance guidance information can be implemented as at least one of the following forms: text, voice, graphic, and video. In one example, the distance guidance information is represented by displaying a route line corresponding to the first distance information, wherein the length of the route line is positively correlated with the first distance information.

[0137] In summary, when guiding the search for the location of the target object on the first device, this application establishes a connection path between the first device and the target object through the first device, and obtains the first position information corresponding to the target object in the first coordinate system through the second device, as well as the spatial relationship information representing the relative positional relationship between the first device and the second device. By combining the spatial relationship information and the first position information, the direction and distance of the target object relative to the first device can be determined, thereby realizing the positioning of the target object by the first device. That is, by introducing the second device to assist in the positioning process of the target object, and by expanding the positioning range of the target object by the first device in the process of finding the object, the accuracy of the position of the target object can still be guaranteed even when the distance between the first device and the target object is far, thereby ensuring the accuracy of the object finding process.

[0138] In some optional embodiments, the connection network formed between devices in the item-finding scenario includes a first device, a second device, and the item being found. That is, the first device and the second device are directly connected. The first device is the item-finding machine in the item-finding scenario, and the second device is the coordinating machine in the item-finding scenario. Figure 5 This is a flowchart of an object location method provided in an exemplary embodiment of this application. The method is illustrated using the example of it being executed by the aforementioned first device. Figure 5 As shown, the method includes the following steps.

[0139] Step 510: Receive the first position information of the target object in the first coordinate system sent by the second device.

[0140] Among them, the first coordinate system is a coordinate system established based on the location and reference direction of the second device, and the second coordinate system is a coordinate system established with the location and reference direction of the second device as a reference.

[0141] The first location information is used to indicate the position of the target object relative to the second device. In one example, the first location information can be implemented as the coordinate point corresponding to the position of the target object in the first coordinate system.

[0142] In illustrative terms, the first location information is data obtained by the second device through a first positioning method. Optionally, the first positioning method includes triangulation, polar positioning, polygonal positioning, Bluetooth positioning, radio frequency identification indoor positioning technology, etc.

[0143] In one example, the first positioning method, triangulation, is used as an illustrative illustration. For example... Figure 6As shown, this illustrates the calculation principle of triangulation. With a communication connection established between device 601 and object 602, triangulation is performed during the movement of device 601. Specifically, a coordinate system 620 is established based on the starting position 610 of device 601, where the Y-axis represents the orientation of device 601. The first distance 603 between device 601 and object 602 at the starting position 610 is measured. After moving device 601, the second distance 604 between device 602 and object 602 at the ending position 630 is measured. The third distance 605 between the starting position 610 and the ending position 630 during the movement is recorded. This determines the Y-axis in coordinate system 620 and the direction from the starting position to the ending position. The first included angle 606, and the included angle 607 that determines the change in the orientation of the device 601 before and after the movement; through the first distance 603, the second distance 604 and the third distance 605, the angles of the three angles (including angles 641, 642 and 643) of the triangle formed by the position of the object 602, the starting position 610 and the ending position 630 can be known, and then the second included angle 608 (the angle formed by the Y-axis in the coordinate system 620 and the direction of the starting position 610 pointing to the object 602) can be calculated, where the second included angle 608 = the first included angle 606 - angle 641, and combined with the changed included angle 607, the direction of the object 602 relative to the device 601 can be determined, so that an arrow pointing to the object 602 can be displayed on the device 601.

[0144] Optionally, depending on the communication connection between the second device and the target object, the first location information can be generated in at least one of the following ways:

[0145] In the first scenario, when the second device is directly connected to the target object, the second device obtains the first location information through triangulation during the movement of the second device.

[0146] That is, the first location information is the data obtained by the second device in locating the target object. (Illustrative example, such as...) Figure 7 As shown, the execution steps of the triangulation method include the following steps: 701, determine whether the second device is connected to the target object. If yes, proceed to 702; otherwise, end. 702, establish a first coordinate system with the first position of the second device. 703, the second device performs triangulation on the target object to determine the coordinates of the target object in the first coordinate system, which is used as the first position information.

[0147] The second method involves a third device connecting the second device and the target object. The second device establishes a communication connection with at least one third device to form a connection path with the target object and obtains the first location information through at least one third device.

[0148] In this embodiment, at least one third device establishes a communication connection with the target being sought. In this application embodiment, the third device has the capability to locate the connected target to obtain location information.

[0149] In some embodiments, when the second device cannot connect to both the first device and the target object at the same time, a series connection network can be formed by connecting at least one third device, thereby forming a connection path. Information about the location of the target object can be transmitted to the first device through the third device that can be directly connected to the target object.

[0150] In one example, such as Figure 8 As shown, an exemplary connection network is illustrated, which includes a first device 810, a second device 820, a third device 830, and a target object 840. The third device 810 can obtain the eighth position information of the target object 840 in the third coordinate system and the ninth position information of the second device 820 in the third coordinate system through triangulation. The third coordinate system is a coordinate system established based on the position and reference direction of the third device 830. The second device 820 can determine the second distance information and the second direction information of the target object 840 relative to the second device 820 based on the eighth position information and the ninth position information, as the first position information.

[0151] When the second device can directly connect to the object being searched, this application uses the second device to perform triangulation on the object being searched to quickly obtain the position information of the object being searched relative to the second device, thereby assisting the first device in locating the object being searched. When the second device needs to connect to the object being searched through a third device, the position information of the object being searched relative to the second device is obtained by converting the positioning result of the object being searched by the third device, thereby assisting the first device in locating the object being searched. Thus, the second device can provide object-finding assistance for the first device in different scenarios, ensuring the stability of the second device in assisting the object-finding process and ensuring the accuracy of the object-finding process.

[0152] In some embodiments, the first device search environment can connect to candidate devices of the target object and determine the second device from the candidate devices. Optionally, when multiple candidate devices are found, the determination of the second device can be implemented in at least one of the following ways:

[0153] The first option is user selection.

[0154] The diagram illustrates multiple candidate devices and their corresponding device candidates. In response to receiving a selection operation for the first candidate among the multiple device candidates, the candidate device corresponding to the first candidate is determined as the first device.

[0155] The second method is to select candidates based on their positioning accuracy.

[0156] In a schematic manner, the positioning accuracy of multiple candidate devices is obtained, and the candidate device with the highest positioning accuracy among the multiple candidate devices is determined as the first device.

[0157] In some embodiments, the positioning accuracy corresponding to the candidate device is obtained by: the candidate device performing multiple positioning operations on the first device and / or the target object to obtain multiple positioning results, determining the average of the multiple positioning results, determining the error between each of the multiple positioning results and the average, and determining the average of the errors corresponding to the multiple positioning results as the positioning accuracy corresponding to the candidate device. The larger the average of the errors corresponding to the multiple positioning results, the lower the positioning accuracy.

[0158] Step 520: Receive the second position information corresponding to the first device in the first coordinate system sent by the second device.

[0159] Indicatively, the second location information is data obtained by the second device locating the first device using the first positioning method. Optionally, the second positioning method includes triangulation, polar positioning, polygonal positioning, Bluetooth positioning, RFID indoor positioning technology, etc. In this embodiment, triangulation is used as an example to illustrate the second positioning method, and the positioning process is as follows: Figure 6 As shown, it will not be elaborated upon here.

[0160] Step 530: Based on the first location of the target object indicated by the first location information and the second location of the first device indicated by the second location information, the first distance information is obtained.

[0161] In this embodiment of the application, both the first location information and the second location information are data obtained based on the first coordinate system. That is, the first location information is implemented as the coordinate point corresponding to the location of the target in the first coordinate system, and the second location information is implemented as the coordinate point corresponding to the location of the second device in the first coordinate system. In the first coordinate system, the distance between the first device and the target is determined by calculating the distance between the coordinate point indicated by the first location information (first location) and the coordinate point indicated by the second location information (second location), thus obtaining the first distance information.

[0162] Step 540: Determine the first direction information based on the first position information and the reference direction.

[0163] In this embodiment, since the reference direction is known when the first coordinate system is established, the orientation of the target object relative to the first device can be determined using the reference direction. Schematic, the first angle between the device orientation of the first device and the reference direction is obtained; the second angle between the second direction of the first position relative to the second device and the reference direction is determined; and the first direction information is obtained based on the difference between the first and second angles.

[0164] For example, such as Figure 9 As shown, the second device 920 uses triangulation to locate the first device 910 and the target object 930 respectively, to obtain the second location information corresponding to the first device 910 and the first location information corresponding to the target object 930. For example, the first device 910 can connect to the movable second device 920 in the network and send a locator assistance request to the second device 920. After receiving the locator assistance request, the second device 920 determines whether it can connect to the target object 930. After the second device 920 successfully connects to both the target object 930 and the first device 910, collaborative initialization begins.

[0165] First, a first coordinate system 903 is established with the initial position 901 of the second device 920 aligned with the reference direction (taking north as an example) 902. Then, during the movement of the second device 920, triangulation is performed on the target object 930 and the first device 910 simultaneously. This allows the first position information of the target object 930 and the second position information of the first device 910 in the first coordinate system 903. Through the first and second position information, the first distance information between the first device 910 and the target object can be determined. During the positioning process, the second angle between the second direction of the target object 930 relative to the second device and the reference direction 902 can be known. The first device 910 can obtain the first angle between its own orientation and the reference direction 902 through the absolute attitude determination module. Combining the second angle, the first direction information of the target object 930 relative to the first device 910 can be obtained.

[0166] In this application, when the first device and the second device can be directly connected, the second device is used to locate the first device and the target object respectively to obtain the position information of the two in the same coordinate system (second coordinate system). Thus, the direction and distance of the target object relative to the first device can be quickly determined in the second coordinate system, which improves the positioning efficiency of the first device when locating the target object, and thus improves the efficiency of finding the target object.

[0167] Step 550: Locate the target object based on the first direction information and the first distance information.

[0168] In some embodiments, guidance information corresponding to the target object is displayed based on the first direction information and the first distance information. The guidance information is used to guide the first device to move toward the target object.

[0169] Optionally, the guidance information includes directional guidance information and distance guidance information. Schematic, directional guidance information is displayed based on the first directional information, and distance guidance information is displayed based on the first distance information.

[0170] Optionally, the directional guidance information can be implemented as at least one of the following forms: text, voice, pattern, and video. In one example, the directional guidance information is represented by an arrow pattern pointing to a fourth direction indicated by the first directional information.

[0171] Optionally, the distance guidance information can be implemented as at least one of the following forms: text, voice, graphic, and video. In one example, the distance guidance information is represented by displaying a route line corresponding to the first distance information, wherein the length of the route line is positively correlated with the first distance information.

[0172] For example, such as Figure 10 As shown, the workflow of the first device and the second device in this embodiment includes the following steps: 1001, determine whether the first device is connected to the moving second device; if yes, proceed to 1002; otherwise, end; 1002, determine whether the second device is connected to the target object; if yes, proceed to 1003; otherwise, end; 1003, establish a first coordinate system aligned to the north with the first position of the second device; 1004, the second device performs triangulation on the target object and the first device respectively to obtain the first coordinates corresponding to the target object and the second coordinates corresponding to the first device; 1005, calculate the pointing direction and target distance corresponding to the guide arrow based on the first coordinates corresponding to the target object and the second coordinates corresponding to the first device.

[0173] In summary, when the first device and the second device can be directly connected, this application uses the second device to locate the first device to obtain the second position information of the first device in the first coordinate system. This unifies the position information representing the first device and the target object into the same coordinate system, satisfying the conditions for determining the relative positional relationship between the first device and the target object. Thus, the second device assists the first device in locating the target object. Furthermore, since both the first and second position information are obtained by the second device, the first device does not need to execute a positioning algorithm during the positioning process. For example, taking triangulation as an example, the first device does not need to move during the positioning of the target object; only the second device needs to move to complete the positioning process of the first device and the target object. This reduces the complexity and time cost of the initialization actions of the first device during the object-finding process.

[0174] In some optional embodiments, the connection network formed between devices in the item-finding scenario includes a first device, an intermediary node, a second device, and the item being found. That is, an intermediary node connects the first device and the second device. The first device is the item-finding machine in the item-finding scenario, and the second device is the cooperating machine in the item-finding scenario. The object positioning method provided in this application embodiment is applicable to situations where the first device cannot directly connect to the second device, or the communication connection with the second device is weak, such as in scenarios where the distance between the first device and the second device is far, or in scenarios where there is obstruction between them. Figure 11 This is a flowchart of an object location method provided in an exemplary embodiment of this application. The method is illustrated using the example of it being executed by the aforementioned first device. Figure 11 As shown, the method includes the following steps.

[0175] Step 1110: Obtain the first position information corresponding to the target object in the first coordinate system.

[0176] In this embodiment, the intermediary node establishes communication connections with the first device and the second device respectively, and the second device establishes communication connections with the intermediary node and the target object respectively.

[0177] Among them, the first coordinate system is a coordinate system established based on the location and reference direction of the second device, and the second coordinate system is a coordinate system established with the location and reference direction of the second device as a reference.

[0178] In one example, when the first coordinate system is implemented as a two-dimensional Cartesian coordinate system, the origin of the first coordinate system is taken as the location of the second device, the reference direction is taken as the first axis direction (e.g., the y-axis) of the first coordinate system, and a second axis direction (e.g., the x-axis) perpendicular to the first axis direction is established, thereby obtaining the first coordinate system.

[0179] The first location information is used to indicate the position of the target object relative to the second device. In one example, the first location information can be implemented as the coordinate point corresponding to the position of the target object in the first coordinate system.

[0180] In illustrative terms, the first location information is data obtained by the second device through a first positioning method. Optionally, the first positioning method includes triangulation, polar positioning, polygonal positioning, Bluetooth positioning, radio frequency identification indoor positioning technology, etc.

[0181] Optionally, depending on the communication connection between the second device and the target object, the first location information can be generated in at least one of the following ways:

[0182] In the first scenario, when the second device is directly connected to the target object, the second device obtains the first location information through triangulation during the movement of the second device.

[0183] The second method involves a third device connecting the second device and the target object. The second device establishes a communication connection with at least one third device to form a connection path with the target object and obtains the first location information through at least one third device.

[0184] In this embodiment of the application, after the second device obtains the first location information of the target object in the first coordinate system, it forwards the first location information to the first device through the intermediary node. That is, the second device sends the first location information to the intermediary node, and the intermediary node sends the first location information to the first device after receiving the first location information.

[0185] Step 1120: Obtain the third position information corresponding to the intermediate node in the second coordinate system.

[0186] The second coordinate system is a coordinate system established based on the location of the first device and the reference direction.

[0187] Schematic, the third location information is the data obtained by the first device in locating the intermediate node. Optionally, the positioning method of the first device in locating the intermediate node can be triangulation, polar method, polygonal positioning, Bluetooth positioning, RFID indoor positioning technology, etc. In this embodiment, taking triangulation as an example, schematically, the first device establishes a second coordinate system based on the first device's position and reference direction, wherein the first device's position is used to indicate the first device's location in the physical environment; based on the second coordinate system, triangulation is performed on the intermediate node to obtain the third location information. The triangulation process is as follows: Figure 6 As shown, it will not be elaborated upon here.

[0188] Optionally, the second coordinate system can be implemented as a Cartesian coordinate system, a polar coordinate system, a cylindrical coordinate system, a spherical coordinate system, etc.

[0189] Optionally, the location of the first device can be represented by the position of the first device's centroid, center of gravity, geometric center, edge corner, etc., in the physical environment.

[0190] In one example, when the second coordinate system is implemented as a two-dimensional Cartesian coordinate system, the origin of the second coordinate system is taken as the location of the first device, the reference direction is taken as the first axis direction (e.g., the y-axis) of the second coordinate system, and a second axis direction (e.g., the x-axis) perpendicular to the first axis direction is established, thereby obtaining the second coordinate system.

[0191] Step 1130: Obtain the fourth position information corresponding to the intermediate node in the first coordinate system.

[0192] Indicatively, the fourth location information is data obtained by the second device in locating the intermediate node. Optionally, the second device can locate the intermediate node using methods such as triangulation, polar positioning, polygonal positioning, Bluetooth positioning, or RFID indoor positioning technology. In this embodiment, taking triangulation as an example, illustratively, after establishing a first coordinate system, the second device performs triangulation on the intermediate node based on the first coordinate system to obtain the fourth location information. The positioning process is as follows: Figure 6 As shown, it will not be elaborated upon here.

[0193] Step 1140: Based on the third and fourth position information, determine the coordinate transformation relationship between the first and second coordinate systems.

[0194] In this embodiment of the application, when the first coordinate system and the second coordinate system are two-dimensional Cartesian coordinate systems, the coordinate transformation relationship between the first coordinate system and the second coordinate system can be characterized by Equation 1:

[0195] Formula 1:

[0196] Where (x2,y2) are the coordinate points in the second coordinate system, (x1,y1) are the coordinate points in the first coordinate system, R is the rotation matrix from the first coordinate system to the second coordinate system, and T is the translation vector from the first coordinate system to the second coordinate system.

[0197] Since both the first and second coordinate systems are established based on the reference direction, R is a known quantity. For example, when both the first and second coordinate systems take the north direction as the Y-axis, R is 1.

[0198] Given R, substitute the coordinates of the intermediate node indicated by the third position information in the second coordinate system into (x2, y2), and substitute the coordinates of the intermediate node indicated by the fourth position information in the first coordinate system into (x1, y1). Transform Equation 1 to obtain Equation 2, which represents the translation vector T:

[0199] Formula 2:

[0200] By obtaining the translation vector T from Formula 2, the transformation relationship between coordinate points in the first and second coordinate systems can be determined using Formula 1.

[0201] Step 1150: Based on the first position information and coordinate transformation relationship, determine the fifth position information of the target object in the second coordinate system.

[0202] In this embodiment of the application, the first position information in the first coordinate system is converted into the fifth position information in the second coordinate system through coordinate transformation. Specifically, by substituting the first position information into (x1, y1) in Formula 1, the coordinate point (x2, y2) representing the fifth position information can be obtained.

[0203] Step 1160: Obtain first distance information based on the distance between the third position corresponding to the target object and the fourth position corresponding to the first device.

[0204] The fifth location information is used to indicate the third location corresponding to the object being searched.

[0205] In some embodiments, when the first device remains stationary, the fourth position corresponding to the first device is represented by the origin of the second coordinate system. The first distance information is obtained by calculating the distance between the coordinate point corresponding to the target object in the second coordinate system and the origin of the second coordinate system. For example, if the fifth position information is represented by the coordinate point (x2, y2), then the first distance information is...

[0206] In other embodiments, after the first device moves, the fourth position corresponding to the first device is represented by the coordinates of its new position in the second coordinate system. The first distance information is obtained by calculating the distance between the coordinates of the target object in the second coordinate system and the coordinates of the first device after its movement. For example, if the fifth position information is represented by coordinates (x2, y2), and the first device is located at coordinates (x3, y3) after its movement, then the first distance information is...

[0207] Step 1170: Determine the first direction information based on the fifth position information and the reference direction.

[0208] The fifth position information indicates the location of the target object in the second coordinate system, which is established with a reference direction. Therefore, the first direction information can be determined by the fifth position information and the reference direction.

[0209] Schematic, the third position relative to the third device is determined; the third included angle between the third included angle and the reference direction is determined; the fourth included angle between the device orientation of the first device and the reference direction is determined; and the first direction information is determined based on the third included angle and the fourth included angle.

[0210] For example, such as Figure 12As shown, it illustrates a connection network formed by a first device 1210, an intermediary node 1220, a second device 1230, and a target object 1240. The second device 1230 performs triangulation on the target object 1240 to obtain first location information, and triangulation on the intermediary node 1220 to obtain fourth location information. The first device 1210 performs triangulation on the intermediary node 1220 to obtain third location information. Using the third and fourth location information, the coordinate transformation relationship between the second coordinate system corresponding to the first device 1210 and the first coordinate system corresponding to the second device 1230 can be determined. Through this coordinate transformation relationship, the first location information of the target object 1240 in the first coordinate system is converted into fifth location information in the second coordinate system. Thus, the first direction information and first distance information of the target object 1240 relative to the first device 1210 are obtained using the fifth location information.

[0211] In the process of locating the target object using an intermediary node and a second device, this application establishes a coordinate transformation relationship between the second coordinate system of the first device and the first coordinate system of the second device by using the positioning results of the first device and the second device on the intermediary node. The obtained coordinate transformation relationship is used to convert the first position information of the target object detected by the second device in the first coordinate system into the fifth position information in the second coordinate system. Thus, the direction and distance of the target object relative to the first device are obtained in the second coordinate system, and the target object's locating range is expanded by using the intermediary node.

[0212] Step 1180: Locate the target object based on the first direction information and the first distance information.

[0213] In some embodiments, guidance information corresponding to the target object is displayed based on the first direction information and the first distance information. The guidance information is used to guide the first device to move toward the target object.

[0214] Optionally, the guidance information includes directional guidance information and distance guidance information. Schematic, directional guidance information is displayed based on the first directional information, and distance guidance information is displayed based on the first distance information.

[0215] Optionally, the directional guidance information can be implemented as at least one of the following forms: text, voice, pattern, and video. In one example, the directional guidance information is represented by an arrow pattern pointing to a fourth direction indicated by the first directional information.

[0216] Optionally, the distance guidance information can be implemented as at least one of the following forms: text, voice, graphic, and video. In one example, the distance guidance information is represented by displaying a route line corresponding to the first distance information, wherein the length of the route line is positively correlated with the first distance information.

[0217] For example, such as Figure 13 As shown, the workflow corresponding to the first device, the intermediary node, and the second device in this embodiment includes the following steps: 1311, determine whether the first device is connected to the moving second device; if yes, execute 1312; if no, execute 1321; 1312, determine whether the second device is connected to the object being searched; if yes, execute sub-process 1; if no, end; 1321, determine whether the first device is connected to the intermediary node that can be used for finding objects; if yes, execute 1322; if no, end; 1322, determine whether the intermediary node is connected to the object being searched; if yes, execute sub-process 2; if no, end.

[0218] Sub-process 1: 1331, establish a first coordinate system aligned to the north with the first position of the second device; 1332, the second device performs triangulation on the target object and the first device respectively to obtain the first coordinates corresponding to the target object and the second coordinates corresponding to the first device; 1333, calculate the pointing direction and target distance of the guide arrow based on the first coordinates corresponding to the target object and the second coordinates corresponding to the first device.

[0219] Sub-process 2: 1341, Establish a first coordinate system aligned to the north using the first position of the second device; 1342, The second device performs triangulation on the target object and the intermediary node respectively to obtain the first coordinate of the target object and the third coordinate of the intermediary node; 1343, Establish a second coordinate system aligned to the north using the first position of the first device; 1344, The first device performs triangulation on the intermediary node to obtain the fourth coordinate of the intermediary node; 1345, Based on the first coordinate of the target object and the third and fourth coordinates of the intermediary node, obtain the fifth coordinate of the target object in the second coordinate system; 1346, Calculate the pointing direction and target distance of the guide arrow based on the fifth coordinate.

[0220] In some optional embodiments, when there are multiple interconnected cooperating machines and / or intermediary nodes in the connection network, and the connection network can indirectly connect the first device and the target object, the first direction information and the first distance information of the target object relative to the first device can be obtained through a serial connection. For example, when the connection path from near to far is "first device A - intermediary node C1 - second device B1 - intermediary node C2 - second device B2 - target object T", then the first device A locates the intermediary node C1, the second device B1 locates the intermediary nodes C1 and C2, the second device B2 locates the intermediary node C2 and the target object T, and finally, by combining the data obtained from the above positioning process, the distance and angle of the target object T relative to the first device A can be obtained.

[0221] In summary, the connection network provided in this application may also include an intermediary node. The relative positional relationship between the first device and the second device is characterized by the positioning results of the first device and the second device on the intermediary node. This helps to convert the known positional information of the target object relative to the second device into the positional information of the target object relative to the first device, thereby realizing the positioning process of the first device on the target object. Since the intermediary node only needs to have connection and transmission functions, its corresponding hardware cost is low. That is, the intermediary node can be set up at low cost to expand the target object search range of the first device.

[0222] In some optional embodiments, when the first device cannot establish a direct communication connection and / or indirect communication connection with the second device, the first device can realize the retrieval through n intermediary nodes provided in the retrieval scenario. That is, the connection network formed between devices in the retrieval scenario includes the first device, n intermediary nodes and the retrieval object, and the first device is the retrieval machine in the retrieval scenario. Figure 14 This is a flowchart of an object location method provided in an exemplary embodiment of this application. The method is illustrated using the example of it being executed by the aforementioned first device. Figure 14 As shown, the method includes the following steps.

[0223] Step 1410: If a communication connection cannot be established with the second device, establish a communication connection with n intermediary nodes.

[0224] In this embodiment of the application, the communication connection between the second device, n intermediary nodes and the target object forms the target connection path, where n is a positive integer.

[0225] Schematic, the conditions under which the first device and the second device cannot establish a communication connection include at least one of the following:

[0226] 1. A direct communication connection cannot be established between the first device and the second device. This is illustrative; when the distance between the first device and the second device exceeds the distance threshold required to establish a communication connection, a direct communication connection cannot be established between the first device and the second device, thus determining that the first device cannot establish a communication connection with the second device.

[0227] 2. The signal strength of the communication connection established between the first device and the second device is lower than a specified strength threshold. Illustratively, when the first device and the second device establish a communication connection, the signal strength of the communication connection is detected. When the signal strength is lower than the specified strength threshold, it is determined that the first device cannot establish a communication connection with the second device. Optionally, the aforementioned signal strength can be implemented as a Received Signal Strength Indication (RSSI) value, a Wi-Fi Direct signal strength value, a Bluetooth signal strength value, etc.

[0228] In some embodiments, if there are multiple candidate connection paths in the object-finding scenario that can connect the object to be found and the first device through intermediary nodes, the candidate connection paths can be filtered to obtain the target connection path. Illustratively, at least two candidate connection paths between the object and the target device are obtained; the connection path that meets preset conditions among the at least two candidate connection paths is selected as the target connection path, wherein the target connection path includes the n intermediary nodes; and a communication connection is established with the n intermediary nodes in the target connection path.

[0229] Optionally, the screening of candidate connectivity pathways can be carried out by manual selection or automatic screening.

[0230] In some embodiments, at least two candidate connection paths are displayed, and in response to receiving a selection operation on a first option among the candidates, the candidate connection path corresponding to the first option is selected as the target connection path.

[0231] In other embodiments, navigation performance information corresponding to at least two candidate connection paths is obtained, wherein the navigation performance information is used to indicate the information in the candidate connection paths that has an impact on the navigation process; and a target connection path is obtained by filtering from at least two candidate connection paths based on the navigation performance information.

[0232] Optionally, navigation performance information includes at least one of the following:

[0233] 1. Information on the number of intermediate nodes in the candidate connection path.

[0234] In one example, the candidate connection path with the fewest intermediary nodes is selected as the target connection path.

[0235] 2. Stability of connection signals between devices in the candidate connection path.

[0236] In one example, the candidate connection path with the highest connection signal stability among the candidate connection paths is selected as the target connection path.

[0237] 3. Road connectivity information corresponding to the location of intermediate nodes in the candidate connection path.

[0238] Optionally, road connectivity information includes whether the location of the intermediary node is accessible nearby, whether it is an intersection, location description information (such as entrance, restroom, escalator, elevator number, parking space number, etc.), floor level, attraction information / store information, etc.

[0239] In one example, different scores are assigned to road traffic conditions corresponding to different road connectivity information. Based on the road connectivity information corresponding to the location of the intermediary node, the smoothness score of candidate connection paths is determined, and the candidate connection paths with the highest smoothness scores are selected as the target connection paths. For example, when the road connectivity information corresponding to the intermediary node indicates that the vicinity of the intermediary node's location is passable, the corresponding smoothness score is increased by 1; when the road connectivity information corresponding to the intermediary node indicates that the vicinity of the intermediary node's location is impassable, the corresponding smoothness score is increased by 0. As another example, when the road connectivity information corresponding to the intermediary node indicates that the location of the intermediary node is a staircase, the corresponding smoothness score is increased by 0.5; when the road connectivity information corresponding to the intermediary node indicates that the location of the intermediary node is an elevator, the corresponding smoothness score is increased by 1.

[0240] 4. Path distance information corresponding to candidate connection paths.

[0241] To illustrate, the first device calculates the path distance information corresponding to each candidate connection path in the background, and selects the candidate connection path with the shortest path distance information as the target connection path.

[0242] 5. The ranging accuracy of the first device for intermediate nodes in the candidate connection path.

[0243] Indicatively, the first device attempts to establish a communication connection with the first intermediary node in each candidate connection path, and performs multiple distance measurements on the first intermediary node in each candidate connection path through the communication connection, obtaining multiple distance measurement results corresponding to the first intermediary node in each candidate connection path. Based on the multiple distance measurement results, the distance measurement error corresponding to the candidate connection path is determined, and the candidate connection path with the smallest distance measurement error is determined as the target connection path.

[0244] When this application provides object-finding assistance to the first device through an intermediary node, it evaluates the navigation performance of each candidate connection path to filter the candidate connection paths, thereby improving the object-finding efficiency and avoiding guiding the second device to the wrong area during the object-finding process.

[0245] Step 1420: Display the object-finding guidance information corresponding to the object being searched based on the target connection path.

[0246] Among them, the object-finding guidance information is used to guide the first device to move toward the object being found.

[0247] Schematic, by establishing the ith communication connection with the ith intermediary node among n intermediary nodes, the ith position information corresponding to the ith intermediary node in the second coordinate system is obtained, where i is a positive integer; based on the ith position information, the ith guidance information corresponding to the ith intermediary node is displayed, wherein the ith guidance information is used to guide the first device to move towards the ith intermediary node; if the first device can establish the (i+1)th communication connection with the (i+1)th intermediary node, the (i+1)th position information corresponding to the (i+1)th intermediary node in the second coordinate system is obtained through the (i+1)th communication connection; based on the (i+1)th position information, the (i+1)th guidance information corresponding to the (i+1)th intermediary node is displayed, wherein the (i+1)th guidance information is used to guide the second device to move towards the (i+1)th intermediary node; if the first device can establish the (n+1)th communication connection with the target object, the sixth position information corresponding to the target object in the second coordinate system is obtained through the (n+1)th communication connection; based on the sixth position information, the target object locating guidance information is displayed.

[0248] Schematic, the second coordinate system is a coordinate system established based on the location of the first device and the reference direction.

[0249] Optionally, the second coordinate system can be implemented as a Cartesian coordinate system, a polar coordinate system, a cylindrical coordinate system, a spherical coordinate system, etc.

[0250] Optionally, the point representing the location of the first device can be implemented as the centroid, center of gravity, geometric center, edge angle, etc. of the first device.

[0251] The reference direction is used to indicate a pre-set specified direction as a reference. Optionally, the reference direction can be implemented as a basic direction (e.g., east, west, south, north) or as the current orientation of the first device.

[0252] In one example, when the second coordinate system is implemented as a two-dimensional Cartesian coordinate system, the origin of the second coordinate system is taken as the location of the first device, the reference direction is taken as the first axis direction (e.g., the y-axis) of the second coordinate system, and a second axis direction (e.g., the x-axis) perpendicular to the first axis direction is established, thereby obtaining the second coordinate system.

[0253] The i-th location information corresponding to the i-th intermediary node is the data obtained by the first device in locating the i-th intermediary node. Optionally, the positioning method of the first device for the i-th intermediary node can be triangulation, polar method, polygonal positioning, Bluetooth positioning, radio frequency identification indoor positioning technology, etc. In this embodiment of the application, taking triangulation as an example, the positioning process is as follows: Figure 6 As shown, it will not be elaborated upon here.

[0254] Optionally, the i-th guidance information corresponding to the i-th intermediary node includes direction guidance information and distance guidance information. Schematic, direction guidance information and distance guidance information are displayed based on the i-th location information. For example, based on the coordinates of the i-th intermediary node in the second coordinate system indicated by the i-th location information, the direction of the coordinates of the i-th intermediary node relative to the coordinates of the first device's location is determined, and direction guidance information is displayed using this direction. Additionally, the distance between the coordinates of the i-th intermediary node and the coordinates of the first device's location is determined, and distance guidance information is displayed using this distance.

[0255] Optionally, the directional guidance information can be implemented as at least one of the following forms: text, voice, pattern, and video. In one example, the directional guidance information is represented by an arrow pattern pointing to a fourth direction indicated by the first directional information.

[0256] Optionally, the distance guidance information can be implemented as at least one of the following forms: text, voice, pattern, and video. In one example, the distance guidance information is represented by displaying a route line corresponding to the distance between the location of the i-th intermediary node and the location of the first device, wherein the length of the route line is positively correlated with the distance between the location of the i-th intermediary node and the location of the first device.

[0257] For example, such as Figure 15As shown, taking n intermediary nodes including intermediary node 1501, intermediary node 1502, and intermediary node 1503 as an example, the target connection path is first device 1504 - intermediary node 1501 - intermediary node 1502 - intermediary node 1503 - sought object 1505. Then, a second coordinate system 1506 is established with the first position of the first device 1504. During the movement of the first device 1504, the intermediary node 1501 is first triangulated to obtain the coordinates of the intermediary node 1501 in the second coordinate system. The object search guides the first device 1504 to the intermediary node 1501. When the first device 1504 reaches the location of the intermediary node 1501 or its vicinity, it can connect to the intermediary node 1502. Then, the intermediary node 1502 is triangulated and the first device 1504 is guided to the intermediary node 1502. This process is repeated to guide the first device 1504 to the intermediary node 1503 and the sought object 1505 in turn.

[0258] like Figure 16 The diagram illustrates a retrieval process implemented through n intermediary nodes. Taking intermediary nodes C, D, and E as an example, the retrieval process includes the following steps: 1601, the first device initiates a retrieval request to search for intermediary nodes; 1602, it determines whether there is an intermediary node connected to the retrieval object in the connection network formed by the intermediary nodes. If yes, proceed to 1603; otherwise, end; 1603, it determines whether intermediary node C is connected to intermediary node D, whether intermediary node D is connected to intermediary node E, and so on. If yes, proceed to 1604; otherwise, end; 1604, it determines whether intermediary node E is connected to the retrieval object. If the target is found, proceed to step 1605; otherwise, terminate. 1605: Establish a second coordinate system based on the first device's initial position. 1606: After the first device moves, perform triangulation on intermediate node C to guide the first device to move towards intermediate node C. 1607: After the first device connects to intermediate node D, perform triangulation on intermediate node D to guide the first device to move towards intermediate node D. 1608: After the first device connects to intermediate node E, perform triangulation on intermediate node E to guide the first device to move towards intermediate node E. 1609: After the first device connects to the target, perform triangulation on the target to guide the first device to move towards the target.

[0259] In this embodiment, the intermediary node is a device capable of establishing a communication connection and may not have the ability to locate other devices, thus resulting in lower hardware costs.

[0260] Optionally, intermediary nodes can be set in typical locations in the scene, such as intersection corners, elevator entrances, restrooms, main entrances, subway turnstiles, and boarding gates, thus serving as waypoints in the process of finding items.

[0261] In some embodiments, the intermediary node may also carry auxiliary information, and the first device may provide object-finding guidance based on the auxiliary information. Optionally, the auxiliary information may include whether nearby roads are passable, the time range for passability, and the floor information of the location.

[0262] In summary, this application addresses the issue of assisting in object retrieval by using an intermediary node when the first device cannot establish a communication connection with the second device. Specifically, the intermediary node assists the first device in moving towards the target object, thereby expanding the first device's retrieval range. When assisting the first device in retrieving the target object via the intermediary node, a connection path is formed between the first device and the target object. The first device's location of the intermediary node guides its movement towards it, enabling it to connect to the next intermediary node on the connection path until a connection is established with the target object for retrieval guidance. Even in scenarios where no auxiliary device capable of locating the target object exists, the accuracy of object retrieval is guaranteed, even at long distances.

[0263] The above describes the object positioning method provided by the embodiments of this application. Corresponding to the above method, the embodiments of this application also provide an object positioning device. The device can be implemented by software, hardware, or a combination of both, and can be part or all of a computer device. See also Figure 17 The device includes: an acquisition module 1710, a determination module 1720, and a positioning module 1730.

[0264] The acquisition module 1710 is used to acquire the first position information corresponding to the target object in the first coordinate system. The first coordinate system is a coordinate system established based on the position and reference direction of the second device. The second device is a device that establishes a communication connection with the first device and the target object respectively.

[0265] The acquisition module 1710 is further configured to acquire spatial relationship information between the first device and the second device, wherein the spatial relationship information is used to indicate the relative positional relationship between the first device and the second device;

[0266] The determining module 1720 is used to determine the first direction information and the first distance information of the target object relative to the first device based on the first location information and the spatial relationship information;

[0267] The positioning module 1730 is used to locate the target object based on the first direction information and the first distance information.

[0268] In an optional embodiment, the first device and the second device are directly connected;

[0269] The acquisition module 1710 is further configured to receive the second position information corresponding to the first device in the first coordinate system sent by the second device, and use the second position information as the spatial relationship information.

[0270] In an optional embodiment, the determining module 1720 is further configured to obtain the first distance information based on the first location corresponding to the target object indicated by the first location information and the second location corresponding to the first device indicated by the second location information;

[0271] The determining module 1720 is further configured to determine the first direction information based on the first position information and the reference direction.

[0272] In an optional embodiment, the determining module 1720 is further configured to obtain a first angle between the device orientation of the first device and the reference direction;

[0273] The determining module 1720 is further configured to determine a second included angle between the second direction of the first position relative to the second device and the reference direction;

[0274] The determining module 1720 is further configured to obtain the first direction information based on the difference between the first included angle and the second included angle.

[0275] In an optional embodiment, an intermediary node is connected between the first device and the second device;

[0276] The acquisition module 1710 is further configured to acquire third position information corresponding to the intermediary node in the second coordinate system, wherein the second coordinate system is a coordinate system established based on the position of the first device and the reference direction;

[0277] The acquisition module 1710 is further configured to acquire the fourth position information corresponding to the intermediary node in the first coordinate system;

[0278] The acquisition module 1710 is further configured to use the third location information and the fourth location information as the spatial relationship information.

[0279] In an optional embodiment, the determining module 1720 is further configured to determine the coordinate transformation relationship between the first coordinate system and the second coordinate system based on the third position information and the fourth position information;

[0280] The determining module 1720 is further configured to determine the fifth position information of the target object in the second coordinate system based on the first position information and the coordinate transformation relationship, wherein the fifth position information is used to indicate the third position corresponding to the target object;

[0281] The determining module 1720 is further configured to obtain the first distance information based on the distance between the third location corresponding to the target object and the fourth location corresponding to the first device;

[0282] The determining module 1720 is further configured to determine the first direction information based on the fifth position information and the reference direction.

[0283] In an optional embodiment, the determining module 1720 is further configured to determine the third position relative to the first device in a third direction;

[0284] The determining module 1720 is further configured to determine a third included angle between the third direction and the reference direction;

[0285] The determining module 1720 is further configured to determine a fourth included angle between the device orientation of the first device and the reference direction;

[0286] The determining module 1720 is further configured to determine the first direction information based on the third included angle and the fourth included angle.

[0287] In an optional embodiment, the device further includes:

[0288] The module 1740 is used to establish a second coordinate system based on the location of the first device and the reference direction, wherein the location of the first device is used to indicate the position of the first device in the physical environment;

[0289] The acquisition module 1710 is further configured to perform triangulation on the intermediary node based on the second coordinate system to obtain the third position information.

[0290] In an optional embodiment, when the second device and the target object are directly connected, the second device is used to obtain the first location information by triangulation during the movement of the second device;

[0291] When a third device is connected between the second device and the target object, the second device is used to establish a communication connection with at least one third device to form a connection path with the target object, and obtain the first location information through the at least one third device, wherein the at least one third device establishes a communication connection with the target object.

[0292] In an optional embodiment, the device further includes:

[0293] The connection module 1750 is used to establish communication connections with n intermediary nodes when it is impossible to establish a communication connection with the second device. The communication connection between the second device, the n intermediary nodes and the target object forms a target connection path, where n is a positive integer.

[0294] Display module 1760 is used to display the locator guidance information corresponding to the locator based on the target connection path, and the locator guidance information is used to guide the first device to move toward the locator.

[0295] In an optional embodiment, the acquisition module 1710 is further configured to acquire the i-th position information corresponding to the i-th intermediary node in the second coordinate system through the i-th communication connection with the i-th intermediary node among the n intermediary nodes, wherein the second coordinate system is a coordinate system established based on the location of the first device and the reference direction, and i is a positive integer;

[0296] The display module 1760 is further configured to display the i-th guidance information corresponding to the i-th intermediary node based on the i-th location information, wherein the i-th guidance information is used to guide the first device to move toward the i-th intermediary node;

[0297] The acquisition module 1710 is further configured to acquire the (i+1)th position information corresponding to the (i+1)th intermediary node in the second coordinate system through the (i+1)th communication connection when the first device is able to establish the (i+1)th communication connection with the (i+1)th intermediary node.

[0298] The display module 1760 is further configured to display the (i+1)th guidance information corresponding to the (i+1)th intermediary node based on the (i+1)th location information, wherein the (i+1)th guidance information is used to guide the second device to move toward the (i+1)th intermediary node;

[0299] The acquisition module 1710 is further configured to acquire the sixth position information corresponding to the target object in the second coordinate system through the (n+1)th communication connection when the first device is able to establish the (n+1)th communication connection with the target object;

[0300] The display module 1760 is also used to display the locator guidance information corresponding to the locator based on the sixth location information.

[0301] In an optional embodiment, the acquisition module 1710 is further configured to acquire at least two candidate connection paths with the target object;

[0302] The acquisition module 1710 is further configured to select the connection path that meets the preset conditions among the at least two candidate connection paths as the target connection path, and the target connection path includes the n intermediary nodes;

[0303] The connection module 1750 is also used to establish communication connections with the n intermediary nodes in the target connection path.

[0304] In an optional embodiment, the acquisition module 1710 is further configured to acquire navigation performance information corresponding to the at least two candidate connection paths, wherein the navigation performance information is used to indicate information in the candidate connection paths that has an impact on the navigation process;

[0305] The acquisition module 1710 is further configured to filter the target connection path from the at least two candidate connection paths based on the navigation performance information.

[0306] In an optional embodiment, the navigation performance information includes at least one of the following:

[0307] Information on the number of intermediary nodes in the candidate connection path;

[0308] The stability of the connection signal between devices in the candidate connection path;

[0309] The road connectivity information corresponding to the location of the intermediate node in the candidate connection path;

[0310] The path distance information corresponding to the candidate connection path;

[0311] The ranging accuracy of the first device for intermediate nodes in the candidate connection path.

[0312] In summary, when guiding the search for the location of the target object on the first device, this application establishes a connection path between the first device and the target object through the first device, and obtains the first position information corresponding to the target object in the first coordinate system through the second device, as well as the spatial relationship information representing the relative positional relationship between the first device and the second device. By combining the spatial relationship information and the first position information, the direction and distance of the target object relative to the first device can be determined, thereby realizing the positioning of the target object by the first device. That is, by introducing the second device to assist in the positioning process of the target object, and by expanding the positioning range of the target object by the first device in the process of finding the object, the accuracy of the position of the target object can still be guaranteed even when the distance between the first device and the target object is far, thereby ensuring the accuracy of the object finding process.

[0313] It should be understood that the above Figure 17 The beneficial effects that the provided device possesses in performing its function are... Figure 4 , 5 The object location methods provided in 11 and 14 have the same beneficial effects, and will not be repeated here. Additionally, Figure 17 The provided device, in implementing its functions, is only illustrated by the division of the above-described functional modules. In practical applications, the functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. Furthermore, the device and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation processes are detailed in the method embodiments, and will not be repeated here.

[0314] See Figure 18 , Figure 18 A schematic diagram of the structure of an exemplary computing device 1800 of this application is shown. The computing device 1800 includes at least one processor 1801, a memory 1803, and at least one network interface 1804.

[0315] Processor 1801 may be, for example, a general-purpose central processing unit (CPU), a digital signal processor (DSP), a network processor (NP), a graphics processing unit (GPU), a neural-network processing unit (NPU), a data processing unit (DPU), a microprocessor, or one or more integrated circuits or application-specific integrated circuits (ASICs), programmable logic devices (PLDs), other general-purpose processors or other programmable logic devices, discrete gates, transistor logic devices, discrete hardware components, or any combination thereof for implementing the scheme of this application. A PLD may be, for example, a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof. A general-purpose processor may be a microprocessor or any conventional processor. It is worth noting that the processor may be a processor supporting an advanced reduced instruction set machine (RISC) machine (ARM) architecture. It can implement or execute various logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0316] Optionally, the computing device 1800 also includes a bus 1802. The bus 1802 is used to transfer information between the various components of the computing device 1800. The bus 1802 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus 1802 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 18 The symbol is represented by only one line, but this does not mean that there is only one bus or one type of bus.

[0317] The memory 1803 may be, for example, volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory may be random access memory (RAM), which is used as an external cache.

[0318] By way of example, but not limitation, many forms of ROM and RAM are available. For example, ROM is a compact disc read-only memory (CD-ROM). RAM includes, but is not limited to, static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0319] The memory 1803 can also be other types of storage devices capable of storing static information and instructions. Alternatively, it can be other types of dynamic storage devices capable of storing information and instructions. It can also be other optical disc storage, optical disk storage (including compressed optical discs, laser discs, optical discs, digital versatile optical discs, Blu-ray discs, etc.), magnetic disk storage media, or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures that can be accessed by a computer, but is not limited thereto. The memory 1803 may exist independently, for example, and be connected to the processor 1801 via bus 1802. The memory 1803 may also be integrated with the processor 1801.

[0320] Network interface 1804 uses any transceiver-like device for communicating with other devices or communication networks, such as Ethernet, radio access network (RAN), or wireless local area network (WLAN). Network interface 1804 may include wired network interfaces and wireless network interfaces. Specifically, network interface 1804 can be an Ethernet interface, such as Fast Ethernet (FE), Gigabit Ethernet (GE), Asynchronous Transfer Mode (ATM), WLAN, cellular network, or combinations thereof. The Ethernet interface can be an optical interface, an electrical interface, or a combination thereof. In some embodiments of this application, network interface 1804 can be used for computing device 1800 to communicate with other devices.

[0321] In specific implementations, as some embodiments, the processor 1801 may include one or more CPUs, such as Figure 18 The CPU0 and CPU1 shown are examples of processors. Each of these processors can be a single-core processor or a multi-core processor. A processor here can refer to one or more devices, circuits, and / or processing cores used to process data (e.g., computer program instructions).

[0322] In specific implementations, as some embodiments, the computing device 1800 may include multiple processors, such as... Figure 18 The processors 1801 and 1805 are shown. Each of these processors can be a single-core processor or a multi-core processor. A processor here can refer to one or more devices, circuits, and / or processing cores used to process data (such as computer program instructions).

[0323] In some embodiments, memory 1803 is used to store program instructions 1810 for executing the scheme of this application, and processor 1801 can execute the program instructions 1810 stored in memory 1803. That is, computing device 1800 can implement the method provided in the method embodiment through processor 1801 and program instructions 1810 in memory 1803, i.e. Figure 2 The method executed. Program instructions 1810 may include one or more software modules. Optionally, processor 1801 itself may also store program instructions for executing the scheme of this application.

[0324] In specific implementation, the computing device 1800 of this application can correspond to a first network element device for executing the above method. The processor 1801 in the computing device 1800 reads instructions from the memory 1803, causing... Figure 18 The computing device 1800 shown is capable of performing all or part of the steps in the method embodiments.

[0325] The computing device 1800 can also correspond to the above. Figure 17 The device shown, Figure 17 Each functional module in the illustrated device is implemented using software from computing device 1800. In other words, Figure 17 The device shown includes functional modules generated by the processor 1801 of the computing device 1800 after reading the program instructions 1810 stored in the memory 1803.

[0326] in, Figure 4 Each step of the method shown is implemented through integrated logic circuits in the hardware of the processor of the computing device 1800 or through instructions in the form of software. The steps of the method embodiments disclosed in this application can be directly implemented by the hardware processor, or implemented by a combination of hardware and software modules in the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other storage media mature in the art. Since this storage medium is located in memory, the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method embodiments; to avoid repetition, they will not be described in detail here.

[0327] See Figure 19 , Figure 19 A schematic diagram of an exemplary computing device 1900 of this application is shown. The computing device 1900 includes a main control board 1910 and an interface board 1930. Figure 19 The computing device 1900 shown is used to perform the above. Figure 4 , 5 The operations involved in the object location methods shown in 11 and 14. The computing device 1900 is, for example, a switch, router, control device, etc. The computing device 1900 can be an example of a computing device.

[0328] The main control board 1910, also known as the main processing unit (MPU) or route processor card, is used to control and manage the various components in the computing device 1900, including routing calculation, device management, device maintenance, and protocol processing functions. The main control board 1910 includes a central processing unit 1911 and a memory 1912.

[0329] Interface board 1930, also known as line processing unit (LPU), linecard, or service board, provides various service interfaces and enables packet forwarding. Service interfaces include, but are not limited to, Ethernet interfaces, POS (Packet over SONET / SDH) interfaces, and, for example, flexible Ethernet clients (FlexE Clients). Interface board 1930 includes: a central processing unit 1931, a network processor 1932, a forwarding table entry memory 1934, and a physical interface card (PIC) 1933.

[0330] The central processing unit 1931 on the interface board 1930 is used to control and manage the interface board 1930 and communicate with the central processing unit 1911 on the main control board 1910.

[0331] Network processor 1932 is used to implement packet forwarding. Network processor 1932 can be in the form of a forwarding chip. Specifically, network processor 1932 forwards received packets based on the forwarding table stored in forwarding table entry memory 1934. If the destination address of the packet is the address of computing device 1900, the packet is sent to the CPU (such as central processing unit 1911) for processing; if the destination address of the packet is not the address of computing device 1900, the next hop and outgoing interface corresponding to the destination address are looked up in the forwarding table according to the destination address, and the packet is forwarded to the outgoing interface corresponding to the destination address. Uplink packet processing includes: packet ingress interface processing, forwarding table lookup; downlink packet processing includes forwarding table lookup, etc.

[0332] The physical interface card 1933 is used to implement physical layer interfacing functions. Raw traffic enters the interface board 1930 through this card, and processed packets are sent out from the physical interface card 1933. The physical interface card 1933, also known as a daughter card, can be installed on the interface board 1930. It is responsible for converting photoelectric signals into packets, performing validity checks on the packets, and forwarding them to the network processor 1932 for processing. In some implementations, the central processing unit can also perform the functions of the network processor 1932, such as implementing software forwarding based on a general-purpose CPU, thus eliminating the need for a network processor 1932 within the physical interface card 1933.

[0333] Optionally, the computing device 1900 includes multiple interface boards. For example, the computing device 1900 also includes an interface board 1940, which includes a central processing unit 1941, a network processor 1942, a forwarding table entry memory 1944, and a physical interface card 1943.

[0334] Optionally, the computing device 1900 also includes a switching fabric board 1920. The switching fabric board 1920 can also be referred to as a switch fabric unit (SFU). In cases where the computing device has multiple interface boards 1930, the switching fabric board 1920 is used to complete data exchange between the interface boards. For example, interface boards 1930 and 1940 can communicate via the switching fabric board 1920.

[0335] The main control board 1910 and the interface board 1930 are coupled. For example, the main control board 1910, interface board 1930, interface board 1940, and switching network board 1920 communicate with each other via a system bus connected to the system backplane. In one possible implementation, an inter-process communication (IPC) channel is established between the main control board 1910 and the interface board 1930, and the main control board 1910 and the interface board 1930 communicate with each other through the IPC channel.

[0336] Logically, the computing device 1900 includes a control plane and a forwarding plane. The control plane includes a main control board 1910 and a central processing unit 1931, while the forwarding plane includes various components that perform forwarding, such as a forwarding table entry memory 1934, a physical interface card 1933, and a network processor 1932. The control plane performs functions such as router operation, generating forwarding tables, processing signaling and protocol messages, and configuring and maintaining the device's status. The control plane distributes the generated forwarding tables to the forwarding plane. In the forwarding plane, the network EDC processor 1932 looks up and forwards messages received by the physical interface card 1933 based on the forwarding tables distributed by the control plane. The forwarding tables distributed by the control plane can be stored in the forwarding table entry memory 1934. In some embodiments, the control plane and the forwarding plane can be completely separated and not on the same device.

[0337] It's worth noting that a computing device may have one or more main control boards, including a primary and a backup main control board. It may also have one or more interface boards; the more powerful the computing device's data processing capabilities, the more interface boards it can provide. Each interface board may also have one or more physical interface cards. A switching network board may or may not exist; multiple boards can share the load and provide redundancy. In a centralized forwarding architecture, the computing device may not need a switching network board, as the interface boards handle the entire system's business data processing. In a distributed forwarding architecture, the computing device can have at least one switching network board, which enables data exchange between multiple interface boards, providing high-capacity data exchange and processing capabilities. Therefore, the data access and processing capabilities of a distributed architecture computing device are greater than those of a centralized architecture device. Alternatively, the computing device can also be a single board, without a switching network board. The functions of the interface board and the main control board are integrated on this one board. In this case, the central processing unit (CPU) on the interface board and the CPU on the main control board can be combined into a single CPU to execute the combined functions. This type of device has lower data exchange and processing capabilities (e.g., low-end switches or routers). The specific architecture adopted depends on the specific network deployment scenario, and no restrictions are imposed here.

[0338] In an exemplary embodiment, a distributed storage system is provided, the system including a control device, the control device being used to perform... Figure 2 , 3 The method performed by the control device in section 5.

[0339] In an exemplary embodiment, a computer program (product) is provided, comprising: computer program code, which, when executed by a computer, causes the computer to perform... Figure 4 , 5 The methods in 11 and 14.

[0340] In an exemplary embodiment, a computer-readable storage medium is provided that stores a program or instructions, which, when executed on a computer, cause the computer to perform the aforementioned actions. Figure 4 , 5 The methods in 11 and 14.

[0341] In an exemplary embodiment, a chip is provided, including a processor for recalling and executing instructions stored in memory, causing a computer with the chip installed to perform... Figure 4 , 5 The methods in 11 and 14.

[0342] In an exemplary embodiment, another chip is provided, including: an input interface, an output interface, a processor, and a memory. The input interface, output interface, processor, and memory are connected via internal interconnection paths. The processor is used to execute code in the memory. When the code is executed, a computer with the chip installed performs... Figure 4 , 5 The methods in 11 and 14.

[0343] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk).

[0344] In this application, the terms "first," "second," etc., are used to distinguish identical or similar items with substantially the same function. It should be understood that there is no logical or temporal dependency between "first," "second," and "nth," nor does it limit the quantity or order of execution. It should also be understood that although the following description uses the terms "first," "second," etc., to describe various elements, these elements should not be limited by the terms. These terms are merely used to distinguish one element from another.

[0345] It should also be understood that, in the various embodiments of this application, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0346] In this application, the term "at least one" means one or more, and the term "multiple" means two or more. For example, multiple second devices means two or more second devices. The terms "system" and "network" are often used interchangeably herein.

[0347] It should be understood that the terminology used in the description of the various examples herein is for the purpose of describing particular examples only and is not intended to be limiting. As used in the description of the various examples and the appended claims, the singular forms “a” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0348] It should also be understood that the term "and / or" as used herein refers to and covers any and all possible combinations of one or more of the associated listed items. The term "and / or" describes an association between related objects, indicating that three relationships can exist; for example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " in this application generally indicates that the preceding and following related objects are in an "or" relationship.

[0349] It should also be understood that the terms “if” and “if” can be interpreted as meaning “when” or “upon”, or “in response to determination” or “in response to detection”. Similarly, depending on the context, the phrases “if determination…” or “if detection [the stated condition or event]” can be interpreted as meaning “when determination…”, or “in response to determination…”, or “when detection [the stated condition or event]” or “in response to detection [the stated condition or event]”.

[0350] The above description is merely an embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A method for locating objects, characterized in that, The method is performed by a first device, and the method includes: Obtain the first position information corresponding to the target object in the first coordinate system. The first coordinate system is a coordinate system established based on the position of the second device and the reference direction. The second device is a device that establishes a communication connection with the first device and the target object respectively. Acquire spatial relationship information between the first device and the second device, wherein the spatial relationship information is used to indicate the relative positional relationship between the first device and the second device; Based on the first location information and the spatial relationship information, the first direction information and the first distance information of the target object relative to the first device are determined; The target object is located based on the first direction information and the first distance information.

2. The method according to claim 1, characterized in that, The first device and the second device are directly connected; The step of obtaining the spatial relationship information between the first device and the second device includes: The system receives the second position information corresponding to the first device in the first coordinate system sent by the second device, and uses the second position information as the spatial relationship information.

3. The method according to claim 2, characterized in that, The step of determining the first direction information and first distance information of the target object relative to the first device based on the first location information and the spatial relationship information includes: Based on the first location corresponding to the target object indicated by the first location information and the second location corresponding to the first device indicated by the second location information, the first distance information is obtained; Based on the first location information and the reference direction, the first direction information is determined.

4. The method according to claim 3, characterized in that, Determining the first direction information based on the first position information and the reference direction includes: Obtain the first angle between the device orientation of the first device and the reference direction; Determine a second angle between the first position and the second direction relative to the second device and the reference direction; The first direction information is obtained based on the difference between the first included angle and the second included angle.

5. The method according to claim 1, characterized in that, An intermediary node connects the first device and the second device; The step of obtaining the spatial relationship information between the first device and the second device includes: Obtain the third position information corresponding to the intermediary node in the second coordinate system, wherein the second coordinate system is a coordinate system established based on the position of the first device and the reference direction; Obtain the fourth position information corresponding to the intermediary node in the first coordinate system; The third location information and the fourth location information are used as the spatial relationship information.

6. The method according to claim 5, characterized in that, The step of determining the first direction information and first distance information of the target object relative to the first device based on the first location information and the spatial relationship information includes: Based on the third and fourth position information, the coordinate transformation relationship between the first and second coordinate systems is determined. Based on the first location information and the coordinate transformation relationship, the fifth location information of the target object in the second coordinate system is determined, and the fifth location information is used to indicate the third location corresponding to the target object. The first distance information is obtained based on the distance between the third location corresponding to the target object and the fourth location corresponding to the first device; Based on the fifth position information and the reference direction, the first direction information is determined.

7. The method according to claim 6, characterized in that, Determining the first direction information based on the fifth position information and the reference direction includes: Determine the third position relative to the third direction of the first device; Determine the third included angle between the third direction and the reference direction; Determine the fourth included angle between the device orientation of the first device and the reference direction; The first direction information is determined based on the third included angle and the fourth included angle.

8. The method according to any one of claims 5 to 7, characterized in that, The step of obtaining the third position information corresponding to the intermediary node in the second coordinate system includes: Based on the location of the first device and the reference direction, a second coordinate system is established, wherein the location of the first device is used to indicate the position of the first device in the physical environment; Based on the second coordinate system, the intermediate node is triangulated to obtain the third position information.

9. The method according to any one of claims 1 to 8, characterized in that, When the second device is directly connected to the target object, the second device is used to obtain the first location information through triangulation during the movement of the second device. When a third device is connected between the second device and the target object, the second device is used to establish a communication connection with at least one third device to form a connection path with the target object, and obtain the first location information through the at least one third device, wherein the at least one third device establishes a communication connection with the target object.

10. The method according to any one of claims 1 to 9, characterized in that, The method further includes: In the event that a communication connection cannot be established with the second device, a communication connection is established with n intermediary nodes. The communication connection between the second device, the n intermediary nodes, and the target object forms a target connection path, where n is a positive integer. Based on the target connection path, the search guidance information corresponding to the target object is displayed, and the search guidance information is used to guide the first device to move towards the target object.

11. The method according to claim 10, characterized in that, The step of displaying the locator guidance information corresponding to the locator object based on the target connection path includes: By establishing the i-th communication connection with the i-th intermediary node among the n intermediary nodes, the i-th position information corresponding to the i-th intermediary node in the second coordinate system is obtained. The second coordinate system is a coordinate system established based on the location of the first device and the reference direction, where i is a positive integer. Based on the i-th location information, the i-th guidance information corresponding to the i-th intermediary node is displayed, and the i-th guidance information is used to guide the first device to move towards the i-th intermediary node; If the first device is able to establish an (i+1)th communication connection with the (i+1)th intermediary node, the (i+1)th position information corresponding to the (i+1)th intermediary node in the second coordinate system is obtained through the (i+1)th communication connection. Based on the (i+1)th location information, the (i+1)th guidance information corresponding to the (i+1)th intermediary node is displayed, and the (i+1)th guidance information is used to guide the second device to move towards the (i+1)th intermediary node; If the first device is able to establish the (n+1)th communication connection with the target object, the sixth position information corresponding to the target object in the second coordinate system is obtained through the (n+1)th communication connection. Based on the sixth location information, the locator guidance information corresponding to the object being searched is displayed.

12. The method according to claim 10 or 11, characterized in that, The establishment of communication connections with n intermediary nodes includes: Obtain at least two candidate connection paths between the target object and the target object; The connection path that meets the preset conditions among the at least two candidate connection paths is taken as the target connection path, and the target connection path includes the n intermediary nodes; Establish communication connections with the n intermediary nodes in the target connection path.

13. The method according to claim 12, characterized in that, The step of selecting the connection path that meets the preset conditions from the at least two candidate connection paths as the target connection path includes: Obtain navigation performance information corresponding to the at least two candidate connection paths, wherein the navigation performance information is used to indicate information in the candidate connection paths that has an impact on the navigation process; The target connection path is obtained by filtering from the at least two candidate connection paths based on the navigation performance information.

14. The method according to claim 13, characterized in that, The navigation performance information includes at least one of the following: Information on the number of intermediary nodes in the candidate connection path; The stability of the connection signal between devices in the candidate connection path; The road connectivity information corresponding to the location of the intermediate node in the candidate connection path; The path distance information corresponding to the candidate connection path; The ranging accuracy of the first device for intermediate nodes in the candidate connection path.

15. An object positioning device, characterized in that, The device includes: The acquisition module is used to acquire the first position information corresponding to the target object in the first coordinate system. The first coordinate system is a coordinate system established based on the position of the second device and the reference direction. The second device is a device that establishes a communication connection with the first device and the target object respectively. The acquisition module is further configured to acquire spatial relationship information between the first device and the second device, the spatial relationship information being used to indicate the relative positional relationship between the first device and the second device; The determining module is used to determine, based on the first location information and the spatial relationship information, the first direction information and the first distance information of the target object relative to the first device; The positioning module is used to locate the target object based on the first direction information and the first distance information.

16. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing at least one program, which is loaded and executed by the processor to implement the object location method as described in any one of claims 1 to 14.

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