A positioning initial region determination method and apparatus, an electronic device, and a storage medium

Abstract

The application discloses a positioning initial area determination method and device, electronic equipment and a storage medium, wherein the method comprises: acquiring a preset positioning map, and dividing the preset positioning map into at least one area unit; determining a region map associated with the area unit in the preset positioning map; determining the similarity of each area unit according to the point cloud data of the region map; and determining the positioning initial area in the area unit according to the similarity. The embodiment of the application determines the positioning initial area through the similarity of different area units, improves the accuracy of the positioning initial area determination, improves the positioning accuracy, and enhances the reliability of the positioning map.

Description

Technical Field

[0001] This invention relates to the field of computer application technology, and in particular to a method, apparatus, electronic device, and storage medium for determining an initial positioning area. Background Technology

[0002] Mobile robots are automated machines that can be commanded by humans or perform tasks according to pre-programmed instructions. Movement of a mobile robot relies heavily on localization, requiring it to utilize environmental features to determine its position. Before executing a task, a mobile robot needs to acquire its initial pose; this process is known as initialization. The accuracy of this initialization significantly impacts the success rate of task execution. Incorrect initialization often leads the robot to misjudge its position, posing a significant risk to subsequent task execution.

[0003] Currently, the initialization process for mobile robots typically requires the operator to place the robot at a location on a known map, providing a rough initial area to the robot's localization program via control commands. The robot then initializes itself based on this initial area. Mobile robot initialization generally involves using sensors to observe the environment and then matching the observed data with a known map. Taking a laser sensor as an example, the user provides an initial area for the robot to locate during the initialization process. See also... Figure 1 The initial area provided by the user matches the map well, allowing the mobile robot to successfully initialize, which improves the safety of subsequent task execution. However, if... Figure 2 Since the initial area provided by the user is located in a similar area within the environment, if the mobile robot initializes according to the initial area, it will cause the mobile robot to misposition. Under this incorrect positioning, the mobile robot's performance of tasks has great uncertainty and a very high risk factor. Summary of the Invention

[0004] This invention provides a method, apparatus, electronic device, and storage medium for determining the initial positioning area, so as to accurately determine the initial positioning area, improve positioning accuracy, reduce the uncertainty of subsequent task execution, and improve the security of positioning equipment.

[0005] According to one aspect of the present invention, a method for determining an initial positioning region is provided, wherein the method includes:

[0006] Obtain a preset location map and divide the preset location map into at least one regional unit;

[0007] Within the preset positioning map, determine the area map associated with the area unit;

[0008] The similarity of each region unit is determined based on the point cloud data of the region map;

[0009] The initial positioning region is determined within the region unit based on the similarity.

[0010] According to another aspect of the present invention, a device for determining an initial positioning area is provided, wherein the device comprises:

[0011] The unit division module is used to acquire a preset positioning map and divide the preset positioning map into at least one regional unit;

[0012] A map determination module is used to determine the area map associated with the area unit within the preset positioning map;

[0013] A similarity module is used to determine the similarity of each region unit based on the point cloud data of the region map;

[0014] An initial location region module is used to determine the initial location region within the region unit according to the similarity.

[0015] According to another aspect of the present invention, an electronic device is provided, wherein the electronic device comprises:

[0016] One or more processors;

[0017] Memory, used to store one or more programs.

[0018] When the one or more programs are executed by the one or more processors, the one or more processors implement the initial location region determination method as described in any of the embodiments of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the positioning initial region determination method according to any embodiment of the present invention.

[0020] The technical solution of this invention reads a preset positioning map and divides it into several regional units. For each regional unit, an associated regional map is determined within the preset positioning map. The similarity between different regional units is determined based on the point cloud data of the regional maps. The initial positioning region is then determined within each regional unit according to this similarity. This invention improves the accuracy of determining the initial positioning region by determining the similarity between different regional units, thereby improving the accuracy of positioning and enhancing the reliability of the positioning map.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram illustrating the effect of successfully locating the initial region according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram illustrating the effect of failure in locating the initial region according to an embodiment of the present invention;

[0025] Figure 3 This is a flowchart of a method for determining an initial positioning area according to Embodiment 1 of the present invention;

[0026] Figure 4 This is an example diagram of a regional map provided according to Embodiment 1 of the present invention;

[0027] Figure 5 This is a flowchart of another method for determining the initial positioning area according to Embodiment 2 of the present invention;

[0028] Figure 6 This is an example diagram of map resolution processing provided in Embodiment 3 of the present invention;

[0029] Figure 7 This is an example diagram of an environmental map cell provided in Embodiment 3 of the present invention;

[0030] Figure 8 This is an example diagram of point cloud generation according to Embodiment 3 of the present invention;

[0031] Figure 9 This is an example of an environment map after similarity detection provided in Embodiment 3 of the present invention;

[0032] Figure 10 This is an example diagram illustrating the initial positioning area provided in Embodiment 3 of the present invention;

[0033] Figure 11 This is an example diagram showing another initial positioning area provided according to Embodiment 3 of the present invention;

[0034] Figure 12 This is a schematic diagram of a positioning initial area determination device according to Embodiment 4 of the present invention;

[0035] Figure 13 This is a schematic diagram of the structure of an electronic device that implements the positioning initial area determination method of the present invention. Detailed Implementation

[0036] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0037] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0038] Example 1

[0039] Figure 3 This is a flowchart of a method for determining an initial positioning region according to an embodiment of the present invention. This embodiment is applicable to the selection of an initial region during the positioning initialization process of a mobile robot. This method can be executed by a device for determining the initial positioning region, which can be implemented in hardware and / or software. This device can be configured in a server or the mobile robot. Figure 3 As shown, the method includes:

[0040] Step 110: Obtain a preset positioning map and divide the preset positioning map into at least one regional unit.

[0041] The preset positioning map can be a pre-generated map that can be used for positioning of the mobile robot when performing tasks. The preset positioning map can be stored locally on the mobile robot or on a remote server. The region unit can be a component of the preset positioning map. The region unit can be used to determine the positioning area. The region unit can be a map area with a regular shape or an irregular shape.

[0042] In this embodiment of the invention, the preset positioning map can be stored locally on the mobile robot or on a cloud server. During positioning initialization, the preset positioning map can be read from the local machine or the cloud server and divided into several regional units. For example, the preset positioning map can be divided into several square regional units according to a preset size, or the preset positioning map can be divided into several regional units according to different passages. It is understood that the multiple regional units can be non-overlapping.

[0043] Step 120: Determine the area map associated with the area unit within the preset positioning map.

[0044] Among them, the regional map can be a map that is related to the regional unit. The regional map can be a map area around the regional unit. For example, the regional map can be a map area composed of other regional units around the regional unit, or a map area determined by a specified radius around the regional unit.

[0045] In this embodiment of the invention, for each regional unit, a regional map associated with that regional unit can be determined within a preset positioning map. This association may include proximity to the regional unit, or being within a threshold distance of the regional unit. It is understood that each regional unit may have its own corresponding regional map, and the size of the regional map associated with each regional unit can be determined by the processing performance of the mobile robot. The higher the processing performance of the mobile robot, the smaller the size of the regional map associated with the regional unit can be, and the higher the accuracy of the subsequently determined initial positioning area can be. For example, see [link to example]. Figure 4 By marking area unit A with a black square, the other 8 area units adjacent to area unit A in the preset map can be used as the area map associated with area unit A.

[0046] Step 130: Determine the similarity of each regional unit based on the point cloud data of the regional map.

[0047] Point cloud data can be data reflecting features within a region map. For example, these features may include obstacle features, which are determined by the region map. Similarity can be the degree of similarity between different region units. The degree of similarity reflects the similarity of different region units in their environment. In one embodiment, the higher the degree of similarity, the more similar the environments of the two region units are.

[0048] Specifically, for each regional unit, point cloud data reflecting obstacle features can be generated through its corresponding regional map, and the similarity between different regional units can be determined by matching the point cloud data.

[0049] Step 140: Determine the initial positioning region within the region unit based on similarity.

[0050] In this embodiment of the invention, one or more regional units can be determined as the initial localization region based on the similarity between each regional unit. In one implementation, regional units with similarity values ​​all less than a similarity threshold can be used as the initial localization region. In another implementation, all regional units with similarity values ​​greater than the similarity threshold can be removed as the initial localization region.

[0051] In this embodiment of the invention, a preset positioning map is read and divided into several regional units. For each regional unit, an associated regional map is determined within the preset positioning map. The similarity between different regional units is determined based on the point cloud data of the regional maps. Based on this similarity, an initial positioning region is determined within each regional unit. This embodiment of the invention improves the accuracy of determining the initial positioning region by determining the similarity between different regional units, thereby improving the accuracy of positioning and enhancing the reliability of the positioning map.

[0052] Example 2

[0053] Figure 5 This is a flowchart of another method for determining the initial positioning region according to Embodiment 2 of the present invention. This embodiment is a refinement based on the above-described embodiments. See also... Figure 5 The method provided in this embodiment of the invention specifically includes the following steps:

[0054] Step 210: Read the pre-stored preset positioning map.

[0055] In this embodiment of the invention, the preset positioning map can be obtained in advance by sensors and can be stored on a local or remote server. When performing positioning initialization, the pre-stored preset positioning map can be read.

[0056] Step 220: Divide the preset positioning map into regional units with a side length of a preset segmentation threshold.

[0057] The preset segmentation threshold can be a pre-set length threshold for the division region unit. The region unit can be a square, and the preset segmentation threshold can be the side length of the division region unit.

[0058] Specifically, the preset positioning map can be divided into several regional units, and the side length of each regional unit can be a preset segmentation threshold. In some embodiments, the preset segmentation threshold can represent 2 meters in the preset positioning map, and the regional unit can be a 2*2 square.

[0059] Step 230: Determine the passage area of ​​the region unit, and remove region units that are below the passage threshold based on the passage area.

[0060] The passable area can be the sum of the areas of the passable zones within a region unit. The passable area can be determined through the region unit's attribute information or based on the region unit's map information within a preset positioning map. The passable threshold is the minimum area requirement for determining whether a region unit is passable. If the passable area is greater than or equal to the passable threshold, the corresponding region unit is allowed to pass; otherwise, it is not.

[0061] In this embodiment of the invention, the area of ​​the passageway within each regional unit can be obtained. If the passageway area of ​​a regional unit is less than the passage threshold, it is considered that the regional unit is impassable and cannot be used for initial area determination; the regional unit can be removed. In one embodiment, the passageway area can be determined by the obstacle situation of the regional unit on a preset positioning map. Map data corresponding to each regional unit can be extracted from the preset positioning map, and the area in the map data excluding obstacles can be counted as the passageway area of ​​each regional unit.

[0062] Step 240: For each regional unit, obtain a map area with a radius of the second threshold centered on the regional unit within the preset positioning map, and use this area as the associated regional map of the regional unit.

[0063] The second threshold can be a distance value that reflects the relationship between a location and a regional unit within a preset positioning map. If the distance between a location and a regional unit is less than the second threshold, the location is considered to be related to the regional unit. If the distance between a location and a regional unit is greater than or equal to the second threshold, the location is considered not to be related to the regional unit.

[0064] In this embodiment of the invention, for different regional units, a map region can be determined within a preset positioning map with the regional unit as the center and the second threshold as the radius. This map region can be used as the regional map associated with the aforementioned regional unit. It is understood that the regional map can be circular.

[0065] Step 250: Restore the regional map to the point cloud data corresponding to the regional units.

[0066] In this embodiment of the invention, the regional map can be processed to generate point cloud data with location features of regional units. These location features can be determined by the location of obstacles, passageways, or unknown locations.

[0067] In one exemplary implementation, each location in the positioning map can be preset to have different attributes such as obstacle, passable, unknown, etc. The attributes of each location can be extracted from the regional map, and point cloud data can be determined by statistically analyzing the attributes at different locations in the regional map. For example, the location points of obstacles in the regional map can be connected to form point cloud data.

[0068] Step 260: Determine the matching degree of point cloud data between different regional units as the similarity according to the branch and bound matching rules.

[0069] Among them, the branch and bound matching rule can be a point cloud data matching rule for different regional units based on the branch and bound method. The branch and bound method can be an algorithm for solving integer programming problems, which can branch different branch variables and subproblems through search and iteration.

[0070] In this embodiment of the invention, the point cloud data of each region unit can be matched according to the branch and bound matching rule to determine the degree of matching between the region unit and other region units. Part of the matching degree can be used as the similarity of the region unit. It can be understood that the part of the matching degree can be a matching degree greater than or equal to the matching degree threshold.

[0071] Step 270: Determine the initial positioning region within the region unit based on similarity.

[0072] In this invention, the regional units can be arranged in order of increasing similarity. Regional units with similarity less than a threshold can be used as the initial positioning region. It is understood that the higher the similarity between regional units, the worse the positioning effect after the regional unit is selected as the initial positioning region. Therefore, one or more regional units with low similarity can be selected as the initial positioning region.

[0073] Step 280: Display the initial location area according to the display style in the preset display map based on the similarity.

[0074] The preset display map can be a visual map of the initial location area. In some embodiments, the preset display map can specifically be a heat map. The display style can be the display style for the initial location area. The display style can include display colors and display graphics, etc. The display styles can be classified according to similarity, and different similarity levels can correspond to different display styles.

[0075] Specifically, display styles for the initial positioning areas can be searched and displayed according to their similarity levels. Different initial positioning areas can be rendered according to these styles, and each initial positioning area can be displayed on a preset display map. In one embodiment, the preset display map can be a heatmap, where initial positioning areas with low similarity are highlighted. In another embodiment, areas with high similarity are highlighted, while initial positioning areas with low similarity are marked in a less conspicuous manner.

[0076] In this embodiment of the invention, a stored preset positioning map is read, and the preset positioning map is divided into regional units according to a preset segmentation threshold as the side length. The passage area within each regional unit is determined, and regional units smaller than the passage threshold are removed. A regional map associated with each regional unit is obtained within the preset positioning map, centered on each regional unit and with a second threshold as the radius. Point cloud data corresponding to the regional units is generated according to the regional maps. The matching degree between different regional units is determined as similarity according to the branch and bound matching rule. Regional units are selected as initial positioning regions based on the similarity. The display style corresponding to the initial positioning region within the preset display map is found based on the similarity. Each initial positioning region is displayed according to the display style. This embodiment of the invention improves the accuracy of initial positioning region determination by determining the similarity of different regional units, thereby improving positioning accuracy and enhancing the reliability of the positioning map.

[0077] Furthermore, based on the above embodiments of the invention, the method further includes: changing the resolution of the preset positioning map.

[0078] In this embodiment of the invention, the resolution of the preset positioning map can be increased or decreased according to the processing performance of the device executing the invention, so as to improve the refinement of the initial positioning area or improve the determination efficiency of the initial positioning area.

[0079] Furthermore, based on the above embodiments of the invention, determining the passage area of ​​the region unit and eliminating region units with passage areas below a passage threshold includes:

[0080] Within a preset location map, the environmental status of the location points included in the area unit is searched. The environmental status includes at least passable, obstacle, and unknown areas. The ratio of the number of location points with the environmental status of passable to the total number of location points is taken as the passable area of ​​the area unit. If the passable area is less than the passable threshold, the area unit corresponding to the passable area is removed.

[0081] The environmental state can be the traversability characteristics of each location point in the preset positioning map within the environment. Specifically, the environmental state can include at least three types: traversable, obstacle, and unknown area.

[0082] In this embodiment of the invention, the preset positioning map can be composed of location points, each of which can have its own corresponding environmental state. The number of passable locations within each area unit can be counted based on their environmental states. The ratio of this number to the total number of location points within the area unit can be used as the passable area. After determining the passable area of ​​each area unit, the area units can be filtered by determining the ratio of the passable area of ​​each area unit to a passable threshold, and area units with a passable area less than the passable threshold can be removed.

[0083] Furthermore, based on the above embodiments of the invention, restoring the regional map to the point cloud data corresponding to the regional units includes:

[0084] The location points of obstacles in the environmental state within the region map associated with each region unit are determined; the location information of the location points is used as the point cloud data of the region unit.

[0085] The location information can be the coordinates of the location point within a preset positioning map.

[0086] In this embodiment of the invention, point cloud data can be determined for each regional unit based on its associated regional map. Specifically, the location points in each regional map whose environmental state is an obstacle can be found, the location information of the above location points can be extracted for each regional unit, and the set of the above location information can be used as the point cloud data of the corresponding regional unit.

[0087] Furthermore, based on the above embodiments of the invention, the pruning strategy for the branch-and-bound matching rule includes at least one of the following:

[0088] The point cloud data between different regional units are matched only once;

[0089] If the similarity of the point cloud data of the target region unit is greater than or equal to the similarity threshold, then the point cloud data of the target region unit will no longer be matched.

[0090] The target region unit can be a region unit with a similarity greater than or equal to a similarity threshold. The similarity threshold can be a similarity threshold for judging the similarity of two region units. If the similarity is greater than or equal to the similarity threshold, the two region units corresponding to that similarity can be considered similar.

[0091] In this embodiment of the invention, when determining the matching degree of different regional units based on the branch and bound matching rules, a pruning strategy can be adopted to reduce the amount of matching data. The pruning strategy includes: different regional units are matched only once. For example, when searching for the matching degree of regional unit A, it can be matched with regional unit B. When searching for the matching degree of regional unit B, it is not necessary to match regional unit B with regional unit A again. If a regional unit is matched with a regional unit such that the similarity between the two is greater than or equal to the similarity threshold, then the point cloud data of the above two regional units will no longer be matched.

[0092] Example 3

[0093] This invention takes the determination of the initial positioning area of ​​a mobile robot as an example. Before initialization, the mobile robot can activate its mapping sensor to scan the environment and generate an environmental map. The initial positioning area can then be determined according to this environmental map. Specifically, this can include the following steps:

[0094] (1) The resolution of the created environment map can be processed according to the computing platform performance or computing time requirements of the mobile robot. For example, if the original environment map resolution is 2000×2000, it can be reduced to 1000×1000 or even smaller. The reduced-resolution environment map can be as follows: Figure 6 As shown, the resolution of the original environment map on the left is reduced from 1632*1312 to the resolution of the environment map on the right, which is 816*656.

[0095] (2) Divide the environmental map into several 2×2 squares as the smallest unit for evaluating the initial location area. The squares generated by the division can be denoted as CELL.

[0096] (3) Since each location point in the environment map can contain three environmental states—accessible, obstructed, and unknown—the accessible area in each cell can be calculated, and cells with an accessible area of ​​less than 70% can be deleted. See also Figure 7 In the environment map, each dark-colored square represents a cell that the mobile robot can reach, and only these cells can be used to evaluate the initial localization area.

[0097] (4) See Figure 8It can acquire a map within a 15-degree radius of each cell in the environment map, and reconstruct a point cloud from the map based on the obstacles within it. This point cloud can be used as the point cloud observed by the mobile robot when initializing a cell.

[0098] (5) For each cell, the generated point cloud can be used to match other locations in the environment map to find if other locations have similar point clouds. This search process can be implemented using the branch and bound method to quickly identify locations in the environment map that do not meet the requirements. If this point cloud can be successfully matched with other locations in the environment map, it means that the maps of the two regions are similar and are not suitable for initialization in the cell corresponding to this point cloud, which poses a risk of incorrect positioning initialization. If this point cloud cannot be matched with other places in the environment map, it means that this region is unique in the environment map and is suitable as the initial positioning region, without causing incorrect initialization matching.

[0099] (5) To speed up the matching process, the following steps can be taken:

[0100] 5.1 If Cell_2 is matched when traversing Cell_1, it is considered that Cell_2 already has similarity. When traversing Cell_2 again, no further calculation is performed, and it is skipped directly.

[0101] 5.2 If Cell_1 has already successfully matched with Cell_2 during the matching process, the subsequent calculations will be stopped immediately, as Cell_1 is considered to have already achieved similarity and does not need to be matched with other areas of the environment map.

[0102] 5.3 If a cell has already completed the matching of the entire graph, then when traversing other cells, no further matching will be attempted with them.

[0103] (6) After step (5), the cells can be divided into cells with similarity and cells with dissimilarity. Cells with similarity are not suitable as the initial location area, while cells with dissimilarity are suitable as the initial location area. See also Figure 9 In the environment map, the small black squares can represent cells with similarity, and the area corresponding to the small black square is not suitable as the initial area for localization.

[0104] (7) Finally, the environmental map can be beautified into a heat map to display the initial positioning area in the form of a heat map, such as Figure 10 and Figure 11 As shown. Among them, Figure 10 Highlighted areas can be used to display locations that are unsuitable as initial positioning areas, while Figure 11 You can use highlighted areas to display locations that are suitable as initial positioning areas.

[0105] Example 4

[0106] Figure 12 This is a schematic diagram of a positioning initial area determination device provided according to Embodiment 4 of the present invention. Figure 12 As shown, the device includes: a unit division module 301, a map determination module 302, a similarity module 303, and a localization initial area module 304.

[0107] The unit division module 301 is used to obtain a preset positioning map and divide the preset positioning map into at least one regional unit.

[0108] The map determination module 302 is used to determine the area map associated with the area unit within the preset positioning map.

[0109] The similarity module 303 is used to determine the similarity of each region unit based on the point cloud data of the region map.

[0110] The initial location region module 304 is used to determine the initial location region within the region unit according to the similarity.

[0111] In this embodiment of the invention, a unit division module reads a preset positioning map and divides it into several regional units. A map determination module determines associated regional maps within the preset positioning map for each regional unit. A similarity module determines the similarity between different regional units based on the point cloud data of the regional maps. A positioning initial region module determines the initial positioning region within each regional unit according to the similarity. This embodiment of the invention improves the accuracy of determining the initial positioning region by determining the similarity between different regional units, thereby improving positioning accuracy and enhancing the reliability of the positioning map.

[0112] In some embodiments, the unit partitioning module 301 specifically includes:

[0113] A map reading unit is used to read the pre-stored preset positioning map.

[0114] A map segmentation unit is used to divide the preset positioning map into region units with a side length of a preset segmentation threshold.

[0115] In some embodiments, the apparatus further includes a resolution module for changing the resolution of the preset positioning map.

[0116] In some embodiments, the map determination module 302 includes:

[0117] A region filtering unit is used to determine the passage area of ​​the region unit and remove the region units that are below the passage threshold based on the passage area.

[0118] An execution unit is determined for obtaining a map area with a radius of a second threshold centered on the region unit within the preset positioning map for each region unit, and using this map area as the region map associated with the region unit.

[0119] In some embodiments, the region filtering unit is specifically used to: search for the environmental state of the location points included in the region unit within the preset positioning map, wherein the environmental state includes at least passable, obstacle and unknown area; take the ratio of the number of location points with the environmental state of passable to the total number of location points as the passable area of ​​the region unit; and remove the region unit corresponding to the passable area if the passable area is less than the passable threshold.

[0120] In some embodiments, the similarity module 303 includes:

[0121] A point cloud processing unit is used to restore the regional map into the point cloud data corresponding to the regional unit.

[0122] A point cloud matching unit is used to determine the matching degree of the point cloud data between different region units as the similarity according to the branch and bound matching rule.

[0123] In some embodiments, the point cloud processing unit is specifically used to: determine the location points of obstacles in the environmental state within the region map associated with each region unit; and use the location information of the location points as the point cloud data of the region unit.

[0124] In some embodiments, the pruning strategy of the branch-and-bound matching rule in the point cloud matching unit includes at least one of the following:

[0125] The point cloud data between different regional units are matched only once;

[0126] If the similarity of the point cloud data of the target region unit is greater than or equal to the similarity threshold, then the point cloud data of the target region unit will no longer be matched.

[0127] In some embodiments, the apparatus further includes: a region display module, configured to determine the display style of the region unit in a preset display map according to the similarity, and display the initial positioning region according to the display style.

[0128] The positioning initial region determination device provided in the embodiments of the present invention can execute the positioning initial region determination method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method execution.

[0129] Example 5

[0130] Figure 13 This is a schematic diagram of the structure of an electronic device implementing the positioning initial area determination method of embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0131] like Figure 13 The electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, connected in communication with the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer programs stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0132] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of monitors, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0133] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the method for determining the initial region.

[0134] In some embodiments, the initial location region determination method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or access unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the initial location region determination method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the initial location region determination method by any other suitable means (e.g., by means of firmware).

[0135] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0136] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0137] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0138] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0139] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0140] A computing system can include clients and servers. Clients and servers are generally geographically separated and typically interact via a network. The client-server relationship is established by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0141] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0142] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A positioning initial area determination method, characterized by, The method includes: Obtain a preset location map and divide the preset location map into at least one regional unit; Determining the associated area map of the area unit within the preset positioning map includes: determining the passable area of ​​the area unit, and removing area units with passable areas below a passable threshold; for each area unit, obtaining a map area with a radius of a second threshold centered on the area unit within the preset positioning map as the associated area map of the area unit; wherein, determining the passable area of ​​the area unit and removing area units with passable areas below the passable threshold includes: searching the environmental state of the location points included in the area unit within the preset positioning map, wherein the environmental state includes at least passable, obstacle, and unknown areas; taking the ratio of the number of location points with the environmental state of passable to the total number of location points as the passable area of ​​the area unit; and removing the area unit corresponding to the passable area if the passable area is less than the passable threshold. The similarity of each region unit is determined based on the point cloud data of the region map; The initial positioning region is determined within the region unit based on the similarity.

2. The method of claim 1, wherein, The step of obtaining a preset location map and dividing the preset location map into at least one regional unit includes: Read the pre-stored preset positioning map; The preset positioning map is divided into regional units with a side length of a preset segmentation threshold.

3. The method of claim 2, wherein, Also includes: Change the resolution of the preset positioning map.

4. The method of claim 1, wherein, Determining the similarity of each region unit based on the point cloud data of the region map includes: The regional map is restored to the point cloud data corresponding to the regional unit; The similarity is determined by the matching degree of the point cloud data between different regional units according to the branch and bound matching rules.

5. The method of claim 4, wherein, The step of restoring the regional map to the point cloud data corresponding to the regional unit includes: The location points of obstacles within the environmental state of the area map associated with each of the aforementioned area units are determined; The location information of the location point is used as the point cloud data of the region unit.

6. The method of claim 4, wherein, The pruning strategy of the branch-and-bound matching rule includes at least one of the following: The point cloud data between different regional units are matched only once; If the similarity of the point cloud data of the target region unit is greater than or equal to the similarity threshold, then the point cloud data of the target region unit will no longer be matched.

7. The method of claim 1, wherein, Also includes: The display style of the region unit in the preset display map is determined according to the similarity, and the initial positioning region is displayed according to the display style.

8. A positioning initial area determining apparatus characterized by comprising: The device includes: The unit division module is used to acquire a preset positioning map and divide the preset positioning map into at least one regional unit; A map determination module is used to determine the associated area map of the area unit within the preset positioning map, including: determining the passable area of ​​the area unit, and removing area units with passable areas below a passable threshold; for each area unit, obtaining a map area with a radius of a second threshold centered on the area unit within the preset positioning map as the associated area map of the area unit; wherein, determining the passable area of ​​the area unit and removing area units with passable areas below the passable threshold includes: searching the environmental state of the location points included in the area unit within the preset positioning map, wherein the environmental state includes at least passable, obstacle, and unknown area; taking the ratio of the number of location points with the environmental state of passable to the total number of location points as the passable area of ​​the area unit; and removing the area unit corresponding to the passable area if the passable area is less than the passable threshold. A similarity module is used to determine the similarity of each region unit based on the point cloud data of the region map; An initial location region module is used to determine the initial location region within the region unit according to the similarity.

9. An electronic device, comprising: The electronic device includes: One or more processors; Memory, used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method for determining the initial location region as described in any one of claims 1-7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for determining the initial positioning region as described in any one of claims 1-7.

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