Method, device and storage medium for determining location information

Abstract

The present application discloses a method, device and storage medium for determining location information, which relates to the field of artificial intelligence technology. By determining different types of location identifiers in different marker partitions, not only the current location information of the mobile device can be obtained, but also the scene information of the current location of the mobile device can be obtained, so that a path planning scheme that is more suitable for the current application scenario can be determined. Therefore, it can be applied to application scenarios with complex environments. The method includes: based on the position coordinates of the marker point in the positioning tag, determining the marker partition to which the marker point belongs, the marker partition at least includes a positioning partition and a scene partition; in each marker partition, determining the location identifier represented by the positioning tag according to the position coordinates of the marker point, the location identifier at least includes a positioning identifier and a scene identifier; determining the location information of the mobile device based on the location identifier.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of artificial intelligence technology, and in particular, to a method, device and storage medium for determining location information. Background Art

[0002] With the development of artificial intelligence technology, the application scenarios of robots are becoming more and more extensive. At present, robots can replace humans to perform different tasks in various application scenarios (such as transportation tasks, shopping guide tasks, or welcoming tasks, etc.). Existing robots need to confirm the positioning of their current position when performing tasks. Generally, positioning tags can be attached to the ceiling or ground of the application scene in advance. When the robot moves, it can determine its own position based on the information in the collected positioning tags, so that it can plan the navigation path based on its own position.

[0003] However, the existing method of determining the robot's position based on positioning tags is only applicable to application scenarios with simple environments and cannot be applied to application scenarios with complex environments. Summary of the invention

[0004] The present application provides a method, device and storage medium for determining location information. Compared with the prior art, this solution can be applicable to application scenarios with complex environments.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect, the present application provides a method for determining location information, including: based on the position coordinates of a marker point in a positioning tag, determining the marker partition to which the marker point belongs, the marker partition including at least a positioning partition and a scene partition; within each marker partition, determining a location identifier represented by the positioning tag according to the position coordinates of the marker point, the location identifier including at least a positioning identifier and a scene identifier; and determining the location information of a mobile device based on the location identifier.

[0007] In the technical solution provided by the present application, the marking partition to which the marking point belongs can be determined according to the position coordinates of each marking point in the positioning tag, and then different types of location identifiers can be determined in different marking partitions, and then the location information of the mobile device can be determined by combining different types of location identifiers. It can be seen that in the technical solution provided by the present application, by dividing the positioning tag into at least two types of marking partitions, namely, positioning partitions and scene partitions, the positioning identifier can be determined according to the position coordinates of each marking point in the positioning partition, and the scene identifier can be determined according to the position coordinates of each marking point in the scene partition. Since different scene identifiers can represent different application scenarios, the present application can not only obtain the current location information of the mobile device based on the positioning identifier, but also obtain the scene information (such as floor information, etc.) of the current location of the mobile device based on the scene identifier. In this way, in some application scenarios with more complex environments, the current location information and scene information of the mobile device can be combined to determine a path planning scheme (i.e., the location information in the present application) that is more suitable for the current application scenario. Therefore, the technical solution provided by the present application can be applied to application scenarios with complex environments.

[0008] Optionally, in a possible design, the above “determining the marked partition to which the marked point belongs based on the position coordinates of the marked point in the positioning tag” may include:

[0009] When the position coordinates of the marking point are within the first preset coordinate range, determining the marking partition to which the marking point belongs as the positioning partition;

[0010] When the position coordinates of the marking point are within the second preset coordinate range, the marking partition to which the marking point belongs is determined to be the scene partition; and there is no overlapping area between the first preset coordinate range and the second preset coordinate range.

[0011] Optionally, in another possible design, the above “determining the location identifier represented by the positioning tag according to the location coordinates of the marking point in each marking partition” may include:

[0012] In the positioning partition, at least one positioning number is determined according to the position coordinates of the marking point, and a positioning identifier represented by the positioning tag is determined from a positioning identifier library according to the at least one positioning number; the positioning identifier library includes a correspondence between the positioning numbers and the positioning identifiers;

[0013] In the scene partition, at least one scene number is determined according to the position coordinates of the marking point, and the scene identifier represented by the positioning tag is determined from the scene identifier library according to the at least one scene number; the scene identifier library includes the correspondence between the scene number and the scene identifier.

[0014] Optionally, in another possible design, when the scene identifier is a floor identifier, the above “determining the location information of the mobile device based on the location identifier” may include:

[0015] The current location information of the mobile device is determined based on the positioning identifier and the floor identifier.

[0016] Optionally, in another possible design, when the scene identifier is a speed limit identifier, the above “determining the location information of the mobile device based on the location identifier” may include:

[0017] The current location information of the mobile device is determined based on the positioning identifier, and the travel speed of the mobile device is determined based on the speed limit identifier.

[0018] Optionally, in another possible design, when the scene identifier is a one-way traffic identifier, the above “determining the location information of the mobile device based on the location identifier” may include:

[0019] The current location information of the mobile device is determined based on the positioning mark, and based on the one-way direction of the one-way traffic mark and the driving direction of the mobile device, it is determined whether the mobile device is allowed to pass through the current road section.

[0020] Optionally, in another possible design, the above-mentioned “determining the marked partition to which the marked point belongs based on the position coordinates of the marked point in the positioning tag” may also include:

[0021] Acquire a target image including a positioning label;

[0022] Perform feature recognition on the target image, and determine the orientation point and marking point based on the recognized target image;

[0023] Establish a coordinate system based on the positional relationship between various points;

[0024] According to the relative position of the marking point in the coordinate system, the position coordinates of the marking point are determined.

[0025] Optionally, in another possible design, the above-mentioned “determining the orientation point and the marking point according to the identified target graphic” may include:

[0026] According to the pixel area of ​​each target graphic and the positional relationship between the pixel center points of each target graphic, the orientation point and the marking point are determined from the pixel center points of each target graphic.

[0027] Optionally, in another possible design, the above “determining the orientation point and the marking point from the pixel center point of each target graphic according to the pixel area of ​​each target graphic and the positional relationship between the pixel center points of each target graphic” may include:

[0028] Determine a first figure and a second figure from each target figure according to the pixel area; the pixel area of ​​the first figure is larger than that of the second figure;

[0029] Determine a third figure and a fourth figure from each of the second figures according to a positional relationship between a pixel center point of each of the second figures and a pixel center point of the first figure;

[0030] The pixel center points of the first figure and the third figure are determined as the orientation points, and the pixel center point of the fourth figure is determined as the marking point.

[0031] In a second aspect, the present application provides a device for determining location information, including: a marking partition determination module, a location identifier determination module, and a location information determination module;

[0032] Specifically, the marking partition determination module is used to determine the marking partition to which the marking point belongs based on the position coordinates of the marking point in the positioning tag; the marking partition includes at least a positioning partition and a scene partition;

[0033] A location identifier determination module is used to determine the location identifier represented by the positioning tag according to the position coordinates of the marking point in each marked partition determined by the marked partition determination module; the location identifier includes at least a positioning identifier and a scene identifier;

[0034] The location information determination module is used to determine the location information of the mobile device based on the location identifier determined by the location identifier determination module.

[0035] Optionally, in a possible design, the marking partition determination module is specifically used for:

[0036] When the position coordinates of the marking point are within the first preset coordinate range, determining the marking partition to which the marking point belongs as the positioning partition;

[0037] When the position coordinates of the marking point are within the second preset coordinate range, the marking partition to which the marking point belongs is determined to be the scene partition; and there is no overlapping area between the first preset coordinate range and the second preset coordinate range.

[0038] Optionally, in another possible design, the location identifier determination module is specifically used to:

[0039] In the positioning partition, at least one positioning number is determined according to the position coordinates of the marking point, and a positioning identifier represented by the positioning tag is determined from a positioning identifier library according to the at least one positioning number; the positioning identifier library includes a correspondence between the positioning numbers and the positioning identifiers;

[0040] In the scene partition, at least one scene number is determined according to the position coordinates of the marking point, and the scene identifier represented by the positioning tag is determined from the scene identifier library according to the at least one scene number; the scene identifier library includes the correspondence between the scene number and the scene identifier.

[0041] Optionally, in another possible design, when the scene identifier is a floor identifier, the location information determination module is specifically used to:

[0042] The current location information of the mobile device is determined based on the positioning identifier and the floor identifier.

[0043] Optionally, in another possible design, when the scene identifier is a speed limit identifier, the location information determination module is specifically used to:

[0044] The current location information of the mobile device is determined based on the positioning identifier, and the travel speed of the mobile device is determined based on the speed limit identifier.

[0045] Optionally, in another possible design, when the scene identifier is a one-way traffic identifier, the location information determination module is specifically used to:

[0046] The current location information of the mobile device is determined based on the positioning mark, and based on the one-way direction of the one-way traffic mark and the driving direction of the mobile device, it is determined whether the mobile device is allowed to pass through the current road section.

[0047] Optionally, in another possible design, the device for determining location information provided by the present application may further include an acquisition module, an identification module, an establishment module and a location coordinate determination module;

[0048] An acquisition module, used for acquiring a target image including a positioning tag;

[0049] The recognition module is used to perform feature recognition on the target image acquired by the acquisition module, and determine the orientation point and the marking point according to the recognized target image;

[0050] Establishing a module for establishing a coordinate system according to the positional relationship between various sites;

[0051] The position coordinate determination module is used to determine the position coordinates of the marking point according to the relative position of the marking point in the coordinate system established by the establishment module.

[0052] Optionally, in another possible design, the recognition module is specifically used to determine the orientation point and the marking point from the pixel center point of each target graphic according to the pixel area of ​​each target graphic and the positional relationship between the pixel center points of each target graphic.

[0053] Optionally, in another possible design, the identification module is further used for:

[0054] Determine a first figure and a second figure from each target figure according to the pixel area; the pixel area of ​​the first figure is larger than that of the second figure;

[0055] Determine a third figure and a fourth figure from each of the second figures according to a positional relationship between a pixel center point of each of the second figures and a pixel center point of the first figure;

[0056] The pixel center points of the first figure and the third figure are determined as the orientation points, and the pixel center point of the fourth figure is determined as the marking point.

[0057] In a third aspect, the present application provides a device for determining location information, comprising a memory, a processor, a bus, and a communication interface; the memory is used to store computer execution instructions, and the processor is connected to the memory through a bus; when the device for determining location information is running, the processor executes the computer execution instructions stored in the memory, so that the device for determining location information performs the method for determining location information provided in the first aspect above.

[0058] Optionally, in a possible design, the device for determining the location information may be the mobile device itself, or a part of the device in the mobile device. For example, it may be a chip system in the mobile device. The chip system is used to support the device for determining the location information to implement the functions involved in the first aspect, for example, receiving, sending or processing the data and / or information involved in the method for determining the location information. The chip system includes a chip and may also include other discrete devices or circuit structures.

[0059] Optionally, in another possible design, the device for determining the location information may be a physical machine for implementing the determination of the location information, or may be a part of the device in the physical machine, for example, it may be a chip system in the physical machine. The chip system is used to support the device for determining the location information to implement the functions involved in the first aspect, for example, receiving, sending or processing the data and / or information involved in the method for determining the location information. The chip system includes a chip and may also include other discrete devices or circuit structures.

[0060] In a fourth aspect, the present application provides a computer-readable storage medium, in which instructions are stored. When a computer executes the instructions, the computer executes the method for determining location information as provided in the first aspect.

[0061] In a fifth aspect, the present application provides a computer program product, which includes computer instructions. When the computer instructions are executed on a computer, the computer executes the method for determining location information as provided in the first aspect.

[0062] It should be noted that the above-mentioned computer instructions may be stored in whole or in part on a computer-readable storage medium. The computer-readable storage medium may be packaged together with the processor of the device for determining the position information, or may be packaged separately from the processor of the device for determining the position information, and this application does not limit this.

[0063] The description of the second, third, fourth and fifth aspects of the present application can refer to the detailed description of the first aspect; and the beneficial effects of the description of the second, third, fourth and fifth aspects can refer to the beneficial effect analysis of the first aspect, which will not be repeated here.

[0064] In this application, the name of the above-mentioned location information determination device does not limit the device or functional module itself. In actual implementation, these devices or functional modules may appear with other names. As long as the functions of each device or functional module are similar to those of this application, they fall within the scope of the claims of this application and their equivalent technologies.

[0065] These and other aspects of the present application will become more apparent from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 A flowchart of a method for determining location information provided in an embodiment of the present application;

[0067] Figure 2 Schematic diagram of two different styles of positioning labels provided in the embodiments of the present application;

[0068] Figure 3 A schematic diagram of another style of a positioning label provided in an embodiment of the present application;

[0069] Figure 4 A schematic diagram of a restaurant scene provided in an embodiment of the present application;

[0070] Figure 5 A flowchart of another method for determining location information provided in an embodiment of the present application;

[0071] Figure 6 A flowchart of another method for determining location information provided in an embodiment of the present application;

[0072] Figure 7 A schematic diagram of the structure of a device for determining location information provided in an embodiment of the present application;

[0073] Figure 8 A schematic diagram of the structure of another device for determining location information provided in an embodiment of the present application. DETAILED DESCRIPTION

[0074] The following is a detailed description of the method, device and storage medium for determining location information provided by the embodiments of the present application in conjunction with the accompanying drawings.

[0075] The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0076] The terms "first" and "second" and the like in the specification and drawings of this application are used to distinguish different objects, or to distinguish different processing of the same object, rather than to describe a specific order of objects.

[0077] In addition, the terms "including" and "having" and any variations thereof mentioned in the description of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include other steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0078] It should be noted that, in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0079] In the description of the present application, unless otherwise specified, “plurality” means two or more.

[0080] With the development of artificial intelligence technology, the application scenarios of robots are becoming more and more extensive. At present, robots can replace humans to perform different tasks in various application scenarios (such as transportation tasks, shopping guide tasks, or welcoming tasks, etc.). Existing robots need to confirm the positioning of their current position when performing tasks. Generally, positioning tags can be attached to the ceiling or ground of the application scene in advance. When the robot moves, it can determine its own position based on the information in the collected positioning tags, so that it can plan the navigation path based on its own position.

[0081] However, the existing method of determining the robot's position based on positioning tags is only applicable to application scenarios with simple environments and cannot be applied to application scenarios with complex environments.

[0082] In view of the problems existing in the above-mentioned prior art, the embodiment of the present application provides a method for determining location information. By determining different types of location identifiers in different marking partitions, the method can not only obtain the current location information of the mobile device, but also obtain the scene information of the current location of the mobile device, so as to determine a path planning scheme that is more suitable for the current application scenario. Therefore, the method can be applied to application scenarios with complex environments.

[0083] The control method of the mobile device provided in the embodiment of the present application can be applicable to the control device of the mobile device. In a possible implementation, the device for determining the location information can be the mobile device itself or a chip system in the mobile device. Taking the example that the device for determining the location information can be the mobile device itself, the mobile device can be provided with a collection device such as a camera, and the collection device can collect the target image during the movement of the mobile device. The mobile device can determine the location information based on the position coordinates of the mark point in the positioning tag in the target image.

[0084] The mobile device may be a robot. Of course, in practical applications, the mobile device may also be other movable artificial intelligence devices.

[0085] In another possible implementation, the device for determining the location information may be a physical machine (such as a background server of a mobile device), or may be a virtual machine (VM) deployed on a physical machine. Taking the case where the device for determining the location information may be a background server as an example, the background server may obtain a target image including a positioning tag from the mobile device, and then may determine the location information for the mobile device based on the location coordinates of the marking point in the positioning tag.

[0086] The following will take the device for determining location information as a mobile device itself as an example to describe in detail the method for determining location information provided in an embodiment of the present application.

[0087] Reference Figure 1 , the method for determining location information provided in the embodiment of the present application includes S101-S103:

[0088] S101. Determine the marking partition to which the marking point belongs based on the position coordinates of the marking point in the positioning tag.

[0089] In order to achieve application scenarios with complex environments, a path planning solution that is more suitable for the current application scenario can be determined based on the positioning tag. In the embodiment of the present application, different types of marked partitions can be set in the positioning tag in advance, so that different types of location information can be determined according to the marked points in different marked partitions to meet the needs of application scenarios with complex environments. Therefore, after determining the marked points in the positioning tag, the marked partition to which each marked point belongs can be determined based on the position coordinates of each marked point.

[0090] The marking partitions include at least positioning partitions and scene partitions. In the positioning partitions, different positioning can be distinguished by marking points with different position coordinates, and in the scene partitions, different scenes can be distinguished by marking points with different position coordinates.

[0091] Optionally, the method for determining location information provided in an embodiment of the present application can determine the location coordinates of the marking point in the following manner: obtain a target image including a positioning tag; perform feature recognition on the target image, and determine the orientation points and marking points based on the recognized target graphics; establish a coordinate system based on the positional relationship between the orientation points; and determine the location coordinates of the marking point based on the relative position of the marking point in the coordinate system.

[0092] Since the mobile device may have the problem of misidentification of mirror images when identifying the information in the positioning tag, the positioning tag of the embodiment of the present application includes not only the marking point but also the orientation point. By establishing a coordinate system based on the orientation point, the unique coordinates of the marking point in the coordinate system can be determined, which can prevent the mobile device from identifying wrong information due to the mirror image problem.

[0093] For example, refer to Figure 2 , provides two different styles of positioning labels. Figure 2 As shown, Figure 2 The positioning tag in (a) includes three target graphics, and the center points of the three target graphics can be determined as marking points A1, A2 and A3 respectively. Figure 2 (b) includes three target graphics, and the center points of the three target graphics can be determined as marking points B1, B2 and B3 respectively. It can be seen that Figure 2 (a) and (b) are a pair of mirror images. If a mobile device obtains a target image including these two positioning tags, it will not be able to distinguish them. However, if the same coordinate system is established in (a) and (b), then in the same reference coordinate system, the position coordinates of the marker point A1 are different from the position coordinates of B1, and the position coordinates of A3 are different from the position coordinates of B3. Therefore, in the embodiment of the present application, the position coordinates of the marker points in the positioning tags can be used to accurately distinguish the Figure 2 (a) and (b) of .

[0094] Taking the positioning tag attached to the ceiling as an example, in a possible implementation, a camera or other acquisition device may be provided on the top of the mobile device, and the acquisition device may acquire the image of the ceiling in the application scenario in real time. The mobile device may perform image processing on the real-time image acquired by the acquisition device. When it is determined that the real-time image includes the positioning tag, the real-time image may be determined as the target image, and further feature recognition may be performed on the real-time image. Optionally, in order to save storage resources, when it is determined that the real-time image does not include the positioning tag, the real-time image may be deleted.

[0095] For example, the mobile device may call a pre-trained deep training model to recognize a target graphic in a target image, and the target graphic may be a graphic previously set on a positioning tag. For example, the positioning tag may be a rectangular tag, and the target graphic may be a circular sub-tag set at different positions of the rectangular tag.

[0096] In actual applications in the embodiments of the present application, it is necessary to affix positioning tags with different arrangements of marking points at different positions. Since the coordinate system for determining the position coordinates of the marking points is established based on the orientation points in the positioning tags, in order to ensure that the reference coordinate systems of the position coordinates of the marking points in different positioning tags are the same, the orientation points in different positioning tags in the embodiments of the present application are the same.

[0097] Optionally, the embodiment of the present application can determine the orientation point and the marking point in the following manner: according to the pixel area of ​​each target graphic and the positional relationship between the pixel center points of each target graphic, determine the orientation point and the marking point from the pixel center points of each target graphic.

[0098] Generally, if a positioning tag is attached to the ceiling, in order to minimize the damage to the decoration style of the application scene, the target graphic set in the positioning tag is generally a simple circle. Since it is necessary to determine the orientation point and the marking point according to different target graphics in the embodiment of the present application, the embodiment of the present application can set a number of target graphics with a fixed relative position relationship and different sizes in the positioning tag. In this way, when the target graphics are all simple circles, the mobile device can accurately distinguish the pixel center points of each target graphic as orientation points and marking points based on the pixel area of ​​each target graphic in the acquired positioning tag and the positional relationship between the pixel center points of each target graphic.

[0099] Optionally, in a possible implementation, the mobile device can determine the first and second graphics from each target graphics based on the pixel area of ​​each target graphics in the collected positioning tag; then, based on the positional relationship between the pixel center point of each second graphics and the pixel center point of the first graphics, determine the third and fourth graphics from each second graphics; thereafter, the pixel center points of the first and third graphics can be determined as orientation points, and the pixel center point of the fourth graphic can be determined as a marking point.

[0100] For example, refer to Figure 3 , is a possible schematic diagram of a positioning tag provided in an embodiment of the present application. Figure 3 As shown, the positioning label includes a first graphic and a plurality of second graphics ( Figure 3 The target graphics except the marked first graphics are all second graphics), and the multiple second graphics include three third graphics and multiple fourth graphics ( Figure 3 In order to enable the mobile device to accurately distinguish the pixel center points of each target graphic as the orientation point and the marking point, Figure 3 In the provided positioning label, the pixel area of ​​the first graphic is larger than that of the second graphic, and the three third graphics among the plurality of second graphics are closest to the first graphic.

[0101] by Figure 3 Taking the provided positioning tag as an example, after the mobile device collects the target image including the positioning tag, it can identify the target graphic in the positioning tag. Since the pixel area of ​​the first graphic set in the positioning tag is larger than that of the second graphic, the mobile device can accurately distinguish the first graphic and the second graphic based on the pixel area of ​​each target graphic. In addition, since the three third graphics set in the positioning tag are closest to the first graphic, the mobile device can respectively determine the distance between the pixel center point of each second graphic and the pixel center point of the first graphic, and then determine the second graphic corresponding to the three pixel center points with the smallest distance from the pixel center point of the first graphic as the third graphic, and the rest as the fourth graphic. Then, the pixel center points N1, N2 and N3 of the three third graphics and the pixel center point M of the first graphic can be determined as the orientation points in the embodiment of the present application, and the pixel center point of the fourth graphic can be determined as the marking point in the embodiment of the present application.

[0102] In a possible implementation, after the compass points M, N1, N2, and N3 are determined, a coordinate system with N2 as the origin, N2N1 as the x-axis, and N2N3 as the y-axis can be established based on the cross product result of the vector MN2 and the vector N2N1, the cross product result of the vector MN2 and the vector N2N3, and a pre-set coordinate establishment rule. Afterwards, the position coordinates of the marked point can be obtained based on the straight-line distance from the marked point to the x-axis and the y-axis in the coordinate system.

[0103] It is understandable that in practical applications, if the embodiment of the present application is used Figure 3 The positioning tags shown are used as road signs for mobile devices. When positioning tags are deployed at different locations, the sizes of the first and third graphics of each positioning tag, as well as the positional relationship between each third graphic and the first graphic should be consistent with Figure 3 Then, the positioning information and the scene information can be distinguished by deploying different arrangements of the fourth graphics in different positioning tags.

[0104] Optionally, after the mobile device determines the position coordinates of the marker point, if the position coordinates of the marker point are within a first preset coordinate range, it can be determined that the marker partition to which the marker point belongs is a positioning partition; if the position coordinates of the marker point are within a second preset coordinate range, it can be determined that the marker partition to which the marker point belongs is a scene partition.

[0105] The first preset coordinate range and the second preset coordinate range may be two coordinate ranges that are predetermined to have no overlapping areas.

[0106] In order to enable the mobile device to locate the position coordinates of each marking point in the label and accurately distinguish the marking partition to which the marking point belongs, the embodiment of the present application can pre-set a first preset coordinate range and a second preset coordinate range with no overlapping areas, and the mobile device can determine the marking partition to which the marking point belongs based on the coordinate range to which the position coordinates of the marking point belong.

[0107] Furthermore, in order to enable the mobile device to quickly determine the marker partition to which the marker point belongs based on the position coordinates of the marker point to save computing resources, the positioning tags can be optionally divided into different marker partitions according to the quadrants of the coordinate system. In this way, the mobile device can quickly determine the marker partition to which the marker point belongs based on the coordinate quadrant where the position coordinates of the marker point are located.

[0108] For example, Figure 3 Taking the coordinate system established in as an example, the first preset coordinate range may be y<0, corresponding to the third and fourth quadrants in the coordinate system (i.e. Figure 3 The second preset coordinate range may be y>0 and x<0, corresponding to the second quadrant in the coordinate system (i.e. Figure 3Then, when the position coordinates of the marker point are in Figure 3 When the position coordinates of the marker point are in the third and fourth quadrants, it can be determined that the marker partition to which the marker point belongs is the positioning partition; when the position coordinates of the marker point are in Figure 3 When the marker point is in the second quadrant, it can be determined that the marker partition to which the marker point belongs is the scene partition.

[0109] S102: In each marked partition, determine the location identifier represented by the positioning tag according to the location coordinates of the marked point.

[0110] In the embodiment of the present application, different location identifiers can be represented by marking points with different location coordinates, so that different location information can be determined based on the different location identifiers.

[0111] The location identifier includes at least a positioning identifier and a scene identifier.

[0112] Optionally, in a possible implementation, within a positioning partition, at least one positioning number can be determined based on the position coordinates of the marking point, and a positioning identifier represented by the positioning tag can be determined from a positioning identifier library based on the at least one positioning number; within a scene partition, at least one scene number can be determined based on the position coordinates of the marking point, and a scene identifier represented by the positioning tag can be determined from a scene identifier library based on the at least one scene number.

[0113] In order to reduce the number of target graphics in the positioning label, and further reduce the damage to the decoration style of the application scene after the positioning label is attached, the embodiment of the present application can record the marking points of different position coordinates as different numbers, and then combine the numbers to obtain new numbers. In this way, when the number of target graphics is limited, more combination methods of positioning numbers and scene numbers can be obtained.

[0114] The positioning identifier library may include the correspondence between the positioning numbers and the positioning identifiers, and the scene identifier library may include the correspondence between the scene numbers and the scene identifiers.

[0115] by Figure 3 For example, the marking points P1, P2 and P3 represent different positioning numbers respectively, and the marking points Q1 and Q2 can represent different scene numbers. Then the positioning identification library can include the corresponding relationships between P1, P2, P3, P1P2, P1P3, P2P3 and P1P2P3 and different positioning identifications respectively, and the scene identification library can include the corresponding relationships between Q1, Q2 and Q1Q2 and different scene identifications. It can be seen that the embodiment of the present application can reduce the number of marking points in the positioning tag by combining the marking points in each marking partition, thereby reducing the number of target graphics. For example, if using Figure 3 The positioning labels of the style are used as landmarks. The marking points in the third and fourth quadrants can have 218 A combination of methods.

[0116] S103: Determine location information of the mobile device based on the location identifier.

[0117] In the embodiment of the present application, location identifiers of different types and numbers can be determined based on marking points of different location coordinates, and thus different location information can be determined based on location identifiers of different types and numbers to meet the needs of application scenarios with complex environments.

[0118] Optionally, in a possible implementation, the scene identifier may be a floor identifier, and the mobile device may determine the current location information of the mobile device based on the positioning identifier and the floor identifier.

[0119] With the widespread application of mobile devices, currently, mobile devices can be applied to multi-floor application scenarios. In order to enable the mobile devices to distinguish different floors, the scene identifier in the embodiment of the present application can be a floor identifier.

[0120] Exemplarily, the positioning tag may be attached to the ceiling of the elevator waiting area, and when the mobile device moves across floors by elevator, the floor may be identified and the current position may be determined based on the acquired target image including the positioning tag.

[0121] Optionally, in another possible implementation, the scene identifier may be a speed limit identifier, and the mobile device may determine the current location information of the mobile device based on the positioning identifier, and determine the driving speed of the mobile device based on the speed limit identifier.

[0122] At present, mobile devices can be used not only in application scenarios with relatively flat terrain, but also in application scenarios with relatively uneven terrain or carpeted terrain. In order to ensure that the mobile device does not get stuck when moving in application scenarios with relatively uneven terrain or carpeted terrain, the embodiment of the present application can set the area with relatively uneven terrain or carpeted terrain as a deceleration area. In order to enable the mobile device to identify the set deceleration area, the scene identifier in the embodiment of the present application can be a speed limit identifier.

[0123] In addition, in the embodiment of the present application, different deceleration areas can be set according to the degree of unevenness of the road surface, and different positioning tags with different speed limit signs can be affixed in different deceleration areas. After the mobile device obtains the positioning tag including the speed limit sign, it can control the driving speed according to the speed range corresponding to the speed limit sign.

[0124] Optionally, in another possible implementation, the scene identifier can be a one-way traffic identifier, and the mobile device can determine the current location information of the mobile device based on the positioning identifier, and determine whether the mobile device is allowed to pass through the current road section based on the one-way direction of the one-way traffic identifier and the driving direction of the mobile device.

[0125] With the widespread use of mobile devices, the number of mobile devices deployed in various application scenarios is also increasing. Path congestion often occurs and waiting is required, which affects the efficiency of mobile devices in performing tasks. In order to reduce the occurrence of path congestion, the embodiment of the present application can set a one-way area in an area with a large flow of mobile device traffic (for example, the area from the kitchen to the restaurant). In order to enable the mobile device to identify the set one-way area and the direction of the one-way area, the scene identifier in the embodiment of the present application can be a one-way traffic identifier. In this way, the mobile device can better plan the path according to the instructions of the one-way traffic identifier during the movement to avoid congestion.

[0126] For example, refer to Figure 4 , provides a schematic diagram of a restaurant scene. Figure 4 As shown, this scene includes 5 dining areas. In order to avoid the path congestion that may occur when there are a large number of mobile devices, the section between dining area 1 and dining area 2 can be set as a one-way area A, and the section between dining area 3 and dining area 2 can be set as a one-way area B. The direction of the one-way area is shown by the arrow. In this way, after receiving the order to pick up the food, the mobile device can go from the docking area to the kitchen outlet to pick up the food, and then deliver the food along the one-way area A. After the delivery is completed, it can return to the docking area via the one-way area B.

[0127] It is understandable that in practical applications, there may be multiple scene identifiers in the positioning tag provided in the embodiment of the present application, and the embodiment of the present application does not limit this, and the user can set it according to the needs. Figure 3 Taking the provided positioning label as an example, the lower left area of ​​the coordinate axis can be determined as the positioning partition to distinguish different positions. The lower right area of ​​the coordinate axis can be determined as the scene partition to identify the direction of the single-line area. In addition, the upper right area of ​​the coordinate axis can also be determined as the scene partition to identify the floor.

[0128] In the technical solution provided by the embodiment of the present application, the marking partition to which the marking point belongs can be determined according to the position coordinates of each marking point in the positioning tag, and then different types of location identifiers can be determined in different marking partitions, and then the location information of the mobile device can be determined by combining different types of location identifiers. It can be seen that in the technical solution provided by the present application, by dividing the positioning tag into at least two types of marking partitions, namely, positioning partitions and scene partitions, the positioning identifier can be determined according to the position coordinates of each marking point in the positioning partition, and the scene identifier can be determined according to the position coordinates of each marking point in the scene partition. Since different scene identifiers can represent different application scenarios, the present application can not only obtain the current location information of the mobile device based on the positioning identifier, but also obtain the scene information (such as floor information, etc.) of the current location of the mobile device based on the scene identifier. In this way, in some application scenarios with more complex environments, the current location information and scene information of the mobile device can be combined to determine a path planning scheme (i.e., the location information in the embodiment of the present application) that is more suitable for the current application scenario. Therefore, the technical solution provided by the embodiment of the present application can be applied to application scenarios with complex environments.

[0129] Based on the above description, Figure 5 As shown, the embodiment of the present application also provides a method for determining location information, including S501-S509:

[0130] S501: Acquire a target image including a positioning tag.

[0131] S502: Perform feature recognition on the target image, and determine a first graphic and a second graphic from each target graphic according to the pixel area of ​​each recognized target graphic.

[0132] S503: Determine a third graphic and a fourth graphic from each of the second graphics according to the positional relationship between the pixel center points of each of the second graphics and the pixel center points of the first graphics.

[0133] S504: Determine the pixel center points of the first figure and the third figure as the orientation points, and determine the pixel center point of the fourth figure as the marking point.

[0134] S505: Establish a coordinate system according to the positional relationship between the various points.

[0135] S506: Determine the position coordinates of the marking point according to the relative position of the marking point in the coordinate system.

[0136] S507: Determine the marked partition to which the marked point belongs based on the position coordinates of the marked point in the positioning tag.

[0137] S508: In each marked partition, determine the location identifier represented by the positioning tag according to the location coordinates of the marked point.

[0138] S509: Determine location information of the mobile device based on the location identifier.

[0139] Optional, such as Figure 6 As shown, the embodiment of the present application also provides a method for determining location information, including S601-S604:

[0140] S601: Obtain the position coordinates of the marked point in the positioning tag.

[0141] S602: When the position coordinates of the mark point are within a first preset coordinate range, determine that the mark partition to which the mark point belongs is a positioning partition; when the position coordinates of the mark point are within a second preset coordinate range, determine that the mark partition to which the mark point belongs is a scene partition.

[0142] S603. In the positioning partition, determine at least one positioning number according to the position coordinates of the marking point, and determine the positioning identifier represented by the positioning tag from the positioning identifier library according to the at least one positioning number; in the scene partition, determine at least one scene number according to the position coordinates of the marking point, and determine the scene identifier represented by the positioning tag from the scene identifier library according to the at least one scene number.

[0143] S604: Determine the location information of the mobile device according to the scene identifier and the positioning identifier.

[0144] like Figure 7 As shown, an embodiment of the present application further provides a device for determining location information, which may include: a marking partition determination module 11, a location identifier determination module 12 and a location information determination module 13.

[0145] The marked partition determination module 11 executes S101 in the above method embodiment, the location identifier determination module 12 executes S102 in the above method embodiment, and the location information determination module 13 executes S103 in the above method embodiment.

[0146] Specifically, the marking partition determination module 11 is used to determine the marking partition to which the marking point belongs based on the position coordinates of the marking point in the positioning tag; the marking partition includes at least a positioning partition and a scene partition;

[0147] The location identifier determination module 12 is used to determine the location identifier represented by the positioning tag according to the position coordinates of the marking point in each marked partition determined by the marked partition determination module 11; the location identifier includes at least a positioning identifier and a scene identifier;

[0148] The location information determination module 13 is used to determine the location information of the mobile device based on the location identifier determined by the location identifier determination module 12 .

[0149] Optionally, in a possible implementation, the marking partition determination module 11 is specifically configured to:

[0150] When the position coordinates of the marking point are within the first preset coordinate range, determining the marking partition to which the marking point belongs as the positioning partition;

[0151] When the position coordinates of the marking point are within the second preset coordinate range, the marking partition to which the marking point belongs is determined to be the scene partition; and there is no overlapping area between the first preset coordinate range and the second preset coordinate range.

[0152] Optionally, in another possible implementation, the location identifier determining module 12 is specifically configured to:

[0153] In the positioning partition, at least one positioning number is determined according to the position coordinates of the marking point, and a positioning identifier represented by the positioning tag is determined from a positioning identifier library according to the at least one positioning number; the positioning identifier library includes a correspondence between the positioning numbers and the positioning identifiers;

[0154] In the scene partition, at least one scene number is determined according to the position coordinates of the marking point, and the scene identifier represented by the positioning tag is determined from the scene identifier library according to the at least one scene number; the scene identifier library includes the correspondence between the scene number and the scene identifier.

[0155] Optionally, in another possible implementation, when the scene identifier is a floor identifier, the location information determining module 13 is specifically configured to:

[0156] The current location information of the mobile device is determined based on the positioning identifier and the floor identifier.

[0157] Optionally, in another possible implementation, when the scene identifier is a speed limit identifier, the location information determining module 13 is specifically configured to:

[0158] The current location information of the mobile device is determined based on the positioning identifier, and the travel speed of the mobile device is determined based on the speed limit identifier.

[0159] Optionally, in another possible implementation, when the scene identifier is a one-way traffic identifier, the location information determining module 13 is specifically configured to:

[0160] The current location information of the mobile device is determined based on the positioning mark, and based on the one-way direction of the one-way traffic mark and the driving direction of the mobile device, it is determined whether the mobile device is allowed to pass through the current road section.

[0161] Optionally, in another possible implementation, the device for determining location information provided by the present application may further include an acquisition module, an identification module, an establishment module, and a location coordinate determination module;

[0162] An acquisition module, used for acquiring a target image including a positioning tag;

[0163] The recognition module is used to perform feature recognition on the target image acquired by the acquisition module, and determine the orientation point and the marking point according to the recognized target image;

[0164] Establishing a module for establishing a coordinate system according to the positional relationship between various sites;

[0165] The position coordinate determination module is used to determine the position coordinates of the marking point according to the relative position of the marking point in the coordinate system established by the establishment module.

[0166] Optionally, in another possible implementation, the recognition module is specifically used to: determine the orientation point and the marking point from the pixel center point of each target graphic according to the pixel area of ​​each target graphic and the positional relationship between the pixel center points of each target graphic.

[0167] Optionally, in another possible implementation, the identification module is further configured to:

[0168] Determine a first figure and a second figure from each target figure according to the pixel area; the pixel area of ​​the first figure is larger than that of the second figure;

[0169] Determine a third figure and a fourth figure from each of the second figures according to a positional relationship between a pixel center point of each of the second figures and a pixel center point of the first figure;

[0170] The pixel center points of the first figure and the third figure are determined as the orientation points, and the pixel center point of the fourth figure is determined as the marking point.

[0171] Optionally, the device for determining position information may further include a storage module, and the storage module is used to store program codes of the device for determining position information, etc.

[0172] like Figure 8 As shown, an embodiment of the present application also provides a device for determining position information, including a memory 41, a processor 42 (42-1 and 42-2), a bus 43 and a communication interface 44; the memory 41 is used to store computer execution instructions, and the processor 42 is connected to the memory 41 through the bus 43; when the device for determining position information is running, the processor 42 executes the computer execution instructions stored in the memory 41, so that the device for determining position information executes the method for determining position information provided in the above embodiment.

[0173] In a specific implementation, as an embodiment, the processor 42 may include one or more central processing units (CPUs), such as Figure 8As an embodiment, the location information determination device may include multiple processors 42, such as Figure 8 42-1 and processor 42-2 are shown in FIG. Each CPU in these processors 42 may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). The processor 42 here may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0174] The memory 41 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 41 may exist independently and be connected to the processor 42 via a bus 43. The memory 41 may also be integrated with the processor 42.

[0175] In a specific implementation, the memory 41 is used to store the data in the present application and the computer execution instructions corresponding to the software program for executing the present application. The processor 42 can run or execute the software program stored in the memory 41, and call the data stored in the memory 41, and various functions of the location information determination device.

[0176] The communication interface 44 uses any transceiver or other device for communicating with other devices or communication networks, such as a control system, a radio access network (RAN), a wireless local area network (WLAN), etc. The communication interface 44 may include a receiving unit to implement a receiving function, and a sending unit to implement a sending function.

[0177] The bus 43 may be an industry standard architecture (ISA) bus, a peripheral component interconnect (PCI) bus, or an extended industry standard architecture (EISA) bus. The bus 43 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0178] As an example, combining Figure 7 , the function of the acquisition module in the location information determination device is the same as Figure 8 The receiving unit in the position information determination device implements the same function as Figure 8 The function implemented by the processor in the position information determination device is the same as Figure 8 The memory in implements the same function.

[0179] The explanation of the relevant contents in this embodiment can be referred to the above method embodiment, which will not be repeated here.

[0180] Through the description of the above implementation methods, technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0181] An embodiment of the present application further provides a computer-readable storage medium, in which instructions are stored. When a computer executes the instructions, the computer executes the method for determining location information provided in the above embodiment.

[0182] Among them, the computer-readable storage medium, for example, can be but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, RAM, ROM, an erasable programmable read only memory (EPROM), a register, a hard disk, an optical fiber, a CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the above, or any other form of computer-readable storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application-specific integrated circuit (ASIC). In an embodiment of the present application, the computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, device or device.

[0183] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for determining location information, characterized in that: include: Acquire a target image including a positioning label; Performing feature recognition on the target image to identify the target graphic; Determining a first figure and a second figure from each of the target figures according to a pixel area of ​​each of the target figures; the pixel area of ​​the first figure is larger than that of the second figure; Determining a third figure and a fourth figure from each of the second figures according to a positional relationship between a pixel center point of each of the second figures and a pixel center point of the first figure; Determine the pixel center points of the first figure and the third figure as the orientation point, and determine the pixel center point of the fourth figure as the marking point; Establishing a coordinate system according to the positional relationship between the orientation points; Determine the position coordinates of the marking point according to the relative position of the marking point in the coordinate system; Based on the position coordinates of the marking point in the positioning tag, determining the marking partition to which the marking point belongs; the marking partition includes at least a positioning partition and a scene partition; In each of the marked partitions, a location identifier represented by the positioning tag is determined according to the position coordinates of the marking point; the location identifier includes at least a positioning identifier and a scene identifier; The location information of the mobile device is determined based on the location identifier.

2. The method for determining location information according to claim 1, characterized in that: The determining, based on the position coordinates of the marking point in the positioning tag, the marking partition to which the marking point belongs includes: When the position coordinates of the marking point are within the first preset coordinate range, determining the marking partition to which the marking point belongs as the positioning partition; When the position coordinates of the marking point are within the second preset coordinate range, the marking partition to which the marking point belongs is determined to be the scene partition; and there is no overlapping area between the first preset coordinate range and the second preset coordinate range.

3. The method for determining location information according to claim 1, characterized in that: The step of determining, in each of the marked partitions, the location identifier represented by the positioning tag according to the location coordinates of the marked point includes: In the positioning partition, at least one positioning number is determined according to the position coordinates of the marking point, and the positioning identifier represented by the positioning tag is determined from a positioning identifier library according to the at least one positioning number; the positioning identifier library includes the corresponding relationship between the positioning number and the positioning identifier; In the scene partition, at least one scene number is determined according to the position coordinates of the marking point, and the scene identifier represented by the positioning tag is determined from a scene identifier library according to the at least one scene number; the scene identifier library includes the correspondence between the scene number and the scene identifier.

4. The method for determining location information according to claim 1, characterized in that: In a case where the scene identifier is a floor identifier, determining the location information of the mobile device based on the location identifier includes: The current location information of the mobile device is determined based on the positioning identifier and the floor identifier.

5. The method for determining location information according to claim 1, characterized in that: In a case where the scene identifier is a speed limit identifier, determining the location information of the mobile device based on the location identifier includes: The current location information of the mobile device is determined based on the positioning identifier, and the travel speed of the mobile device is determined based on the speed limit identifier.

6. The method for determining location information according to claim 1, characterized in that: In a case where the scene identifier is a one-way traffic identifier, determining the location information of the mobile device based on the location identifier includes: The current location information of the mobile device is determined based on the positioning mark, and whether the mobile device is allowed to pass through the current road section is determined based on the one-way direction of the one-way traffic mark and the driving direction of the mobile device.

7. A device for determining position information, characterized in that: include: An acquisition module, used for acquiring a target image including a positioning tag; A recognition module, used to perform feature recognition on the target image and identify the target graphic; Determining a first figure and a second figure from each of the target figures according to a pixel area of ​​each of the target figures; the pixel area of ​​the first figure is larger than that of the second figure; Determine a third figure and a fourth figure from each of the second figures according to the positional relationship between the pixel center points of each of the second figures and the pixel center points of the first figure; determine the pixel center points of the first figure and the third figure as the orientation points, and determine the pixel center point of the fourth figure as the marking point; An establishing module, used for establishing a coordinate system according to the positional relationship between the said azimuth points; A position coordinate determination module, used to determine the position coordinates of the marking point according to the relative position of the marking point in the coordinate system; A marking partition determination module, used to determine the marking partition to which the marking point belongs based on the position coordinates of the marking point in the positioning tag; the marking partition includes at least a positioning partition and a scene partition; A location identifier determination module, configured to determine, within each of the marked partitions determined by the marked partition determination module, a location identifier represented by the positioning tag according to the position coordinates of the marking point; the location identifier includes at least a positioning identifier and a scene identifier; The location information determination module is used to determine the location information of the mobile device based on the location identifier determined by the location identifier determination module.

8. A device for determining position information, characterized in that: It includes a memory, a processor, a bus and a communication interface; the memory is used to store computer-executable instructions, and the processor is connected to the memory via the bus; When the device for determining the position information is running, the processor executes the computer-executable instructions stored in the memory, so that the device for determining the position information executes the method for determining the position information as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when a computer executes the instructions, the computer executes the method for determining location information as described in any one of claims 1 to 6.

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