Base station position information acquisition method, storage medium, chip and electronic equipment

Abstract

The present application relates to the technical field of data processing, and discloses a base station position information acquisition method, a storage medium, a chip and an electronic device, the base station position information acquisition method comprising: acquiring a first robot position information set and a first distance set, the first robot position information set comprising k pieces of first robot position information; determining m pieces of two-dimensional base station position information of the target base station according to the k pieces of first robot position information and the k pieces of first target two-dimensional distance; obtaining m inner group point numerical values corresponding to the two-dimensional base station position information to obtain m first inner group point numerical values; and determining the two-dimensional base station position information corresponding to the maximum value in the m first inner group point numerical values as the first target base station position information of the target base station. The technical problem that the accuracy is low when an existing robot determines the position information of the uwb base station can be improved.

Description

Technical Field

[0001] The present application relates to the field of data processing, and specifically to a method for obtaining base station location information, a storage medium, a chip, and an electronic device. Background Art

[0002] With the development of robot-related technologies, service robots are increasingly used in various commercial scenarios. In the application process of service robots, ultra-wideband technology is also gradually applied in the field of robots, such as positioning or assisting service robots with positioning through ultra-wideband base stations (UWB base stations). However, before using UWB base stations, service robots need to determine the location of UWB base stations.

[0003] In existing solutions, manual marking and measurement methods are usually used to enable service robots to determine the location information of UWB base stations. However, when manually measuring the location of UWB base stations, it is necessary to use measuring instruments such as laser rangefinders, construction maps, etc. to determine the location of base stations, resulting in low accuracy in determining the location information of UWB base stations. Summary of the invention

[0004] One purpose of the embodiments of the present application is to provide a method for obtaining base station location information, a storage medium, a chip and an electronic device, aiming to improve the technical problem of low accuracy when the existing robot determines the location information of a UWB base station.

[0005] In a first aspect, an embodiment of the present application provides a method for obtaining base station location information, the method for obtaining base station location information comprising:

[0006] Acquire a first robot position information set and a first distance set, wherein the first robot position information set includes k first robot position information, and the first distance set includes k first target two-dimensional distances, wherein the first target two-dimensional distance is the distance between the robot and the target base station at the position indicated by the first robot position information;

[0007] Determine m two-dimensional base station position information of the target base station according to k first robot position information and k first target two-dimensional distances;

[0008] Obtaining inner group point values ​​corresponding to the m two-dimensional base station position information to obtain m first inner group point values;

[0009] The two-dimensional base station location information corresponding to the maximum value among the m first inner group point values ​​is determined as the first target base station location information of the target base station.

[0010] In a possible implementation, determining m two-dimensional base station position information of the target base station according to k first robot position information and k first target two-dimensional distances includes:

[0011] Acquire k signal strength attenuation values ​​of the ranging signal received by the robot from the target base station at the k positions of the first robot to obtain k first signal strength attenuation values;

[0012] Determine n second signal strength attenuation values ​​from the k first signal strength attenuation values, wherein the second signal strength attenuation value is less than a preset signal strength attenuation value;

[0013] According to the first robot position information respectively corresponding to the n second signal strength attenuation values ​​and the first target two-dimensional distances respectively corresponding to the n second signal strength attenuation values, the m two-dimensional base station position information of the target base station is determined.

[0014] In a possible implementation, determining the m two-dimensional base station position information of the target base station according to the first robot position information corresponding to the n second signal strength attenuation values ​​and the first target two-dimensional distance corresponding to the n second signal strength attenuation values ​​includes:

[0015] Acquire first position information and second position information, wherein the first position information is any one of the first robot position information corresponding to the n second signal strength attenuation values, and the second position information is position information other than the first position information among the first robot position information corresponding to the n second signal strength attenuation values.

[0016] Determine first reference two-dimensional base station position information and second reference two-dimensional base station position information according to the first position information, the second position information, the first target two-dimensional distance corresponding to the first position information, and the first target two-dimensional distance corresponding to the second position information;

[0017] Determine the first reference two-dimensional base station location information and the second reference two-dimensional base station location information as the two-dimensional base station location information of the target base station;

[0018] Repeat the above method of acquiring the first location information and the second location information, and determining the first reference two-dimensional base station location information and the second reference two-dimensional base station location information according to the first location information, the second location information, the first target two-dimensional distance corresponding to the first location information, and the first target two-dimensional distance corresponding to the second location information to acquire the two-dimensional base station location information of the target base station until j pieces of two-dimensional base station location information of the target base station are acquired;

[0019] Acquire the type of the triangle formed by the j two-dimensional base station position information of the target base station and the corresponding first position information and second position information to obtain j first triangle types;

[0020] According to the j first triangle types, m two-dimensional base station location information of the target base station is determined from the j two-dimensional base station location information.

[0021] In a possible implementation, determining m two-dimensional base station location information of the target base station from j two-dimensional base station location information according to j first triangle types includes:

[0022] Obtain j acute triangles of the first triangle type to obtain m acute triangles;

[0023] The two-dimensional base station location information corresponding to the m acute-angle triangles is determined as the two-dimensional base station location information of the target base station.

[0024] In a possible implementation, the acquiring inner group point values ​​corresponding to the m two-dimensional base station position information to obtain m first inner group point values ​​includes:

[0025] Acquire a reference robot position information set corresponding to target two-dimensional base station position information, wherein the elements in the reference robot position information set are position information of the first robot position information set except for the first position information and the second position information corresponding to the target two-dimensional base station position information, and the target two-dimensional base station position information is any one of the m two-dimensional base station position information;

[0026] Determine k-2 position information error values ​​according to the target two-dimensional base station position information, the reference robot position information in the reference robot position information set, and the first target two-dimensional distance corresponding to the reference robot position information in the reference robot position information set;

[0027] Obtain a first value among k-2 position information error values ​​that is smaller than a preset position information error value;

[0028] Determine the first value as a first inner group point value corresponding to the target two-dimensional base station position information;

[0029] Repeat the above method of determining the first inner group point value corresponding to the target two-dimensional base station position information according to the reference robot position information set corresponding to the target two-dimensional base station position information until m inner group point values ​​corresponding to the two-dimensional base station position information are obtained to obtain m first inner group point values.

[0030] In a possible implementation, determining k-2 position information error values ​​according to the target two-dimensional base station position information, the reference robot position information in the reference robot position information set, and the first target two-dimensional distance corresponding to the reference robot position information in the reference robot position information set includes:

[0031] The position information error value is determined by the method shown in the following formula:

[0032] error j = abs(r j -||Anchor_pos-Pos j ||),

[0033] Among them, Anchor_pos is the target two-dimensional base station location information, r j Pos is the first target two-dimensional distance corresponding to the jth reference robot position information in the reference robot position information set. j is the jth reference robot position information in the reference robot position information set, error j is the position information error value corresponding to the j-th reference robot position information, abs() is the absolute value operation, ||*|| is the norm operation;

[0034] Repeat the above method of obtaining the position information error value corresponding to the j-th reference robot position information until the position information error value corresponding to each reference robot position information in the reference robot position information set is obtained, and k-2 position information error values ​​are obtained.

[0035] In a possible implementation, the method further includes:

[0036] Acquire a second robot position information set, and acquire a second distance set;

[0037] Determine second target base station position information according to the second robot position information set and the second distance set;

[0038] If the inner cluster point value of the second target base station location information is greater than the inner cluster point value of the first target base station location information, the second target base station location information is determined as the base station location information of the target base station.

[0039] In a second aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes a base station location information acquisition method as described in any one of the first aspects.

[0040] In a third aspect, an embodiment of the present application provides a chip, including:

[0041] at least one processor; and,

[0042] a memory communicatively connected to the at least one processor; wherein,

[0043] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the base station location information acquisition method as described in any one of the first aspects.

[0044] In a fourth aspect, an embodiment of the present application provides an electronic device, including:

[0045] Ultra-wideband tags;

[0046] at least one processor, communicatively connected to the ultra-wideband tag; and

[0047] a memory communicatively connected to the at least one processor; wherein,

[0048] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the base station location information acquisition method as described in any one of the first aspects.

[0049] In the base station position information acquisition method provided in the embodiment of the present application, by acquiring a first robot position information set and a first distance set, the first robot position information set includes k first robot position information, the first distance set includes k first target two-dimensional distances, the first target two-dimensional distance is the distance between the robot and the target base station at the position indicated by the first robot position information, m two-dimensional base station position information of the target base station is determined according to the k first robot position information and the k first target two-dimensional distances, and the inner group point values ​​corresponding to the m two-dimensional base station position information are obtained to obtain m first inner group point values, and the two-dimensional base station position information corresponding to the maximum value among the m first inner group point values ​​is determined as the first target base station position information of the target base station. Therefore, the reference two-dimensional base station position information with the largest inner group point value determined from the multiple reference two-dimensional base station position information determined according to the robot position information and the corresponding two-dimensional distance can be obtained, and it is determined as the first target base station position information of the target base station, so that the first target base station position information can be determined from the multiple reference two-dimensional base station position information according to the inner group point value, thereby improving the accuracy of determining the first target base station position information. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0051] Figure 1A schematic diagram of the structure of a wireless communication system provided in an embodiment of the present application;

[0052] Figure 2A A flowchart of a method for obtaining base station location information provided in an embodiment of the present application;

[0053] Figure 2B A schematic diagram of the movement of a robot provided in an embodiment of the present application;

[0054] Figure 2C A schematic diagram of first reference two-dimensional base station location information and second reference two-dimensional base station location information provided in an embodiment of the present application;

[0055] Figure 3 A schematic diagram of the circuit structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0057] It should be noted that, if there is no conflict, the various features in the embodiments of the present application can be combined with each other, all within the scope of protection of the present application. In addition, although the functional module division is performed in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a sequence different from the module division in the device or the flow chart. Furthermore, the words "first", "second", "third", etc. used in this application do not limit the data and execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0058] In order to better understand a method for obtaining the location information of a base station provided in an embodiment of the present application, the following first briefly introduces the method for determining the location information of a uwb base station by an existing robot. In the existing scheme, the location information of the uwb base station is usually measured by manual marking, and then marked on the map and sent to the robot. When manually marking, a rangefinder and a construction map of the scene of the application robot and the uwb base station are required to determine the location of the uwb base station. Therefore, due to a large number of manual actions to obtain the location information of the uwb base station, the accuracy of determining the location information of the uwb base station is low. At the same time, in the existing scheme, another method for determining the location information of the uwb base station is to communicate between multiple uwb base stations and obtain the relative positions between multiple base stations, so as to finally obtain the location information of each uwb base station. However, when obtaining the location information by the above method, it is required that there is no obstruction between the uwb base stations, but because there are situations in which the uwb base stations are obstructed by other objects in actual situations, the accuracy of obtaining the base station location information is also reduced.

[0059] The present application aims to solve the above-mentioned problem and proposes a base station position information acquisition method, which can obtain the reference two-dimensional base station position information with the largest inner group point value from multiple reference two-dimensional base station position information determined according to the robot position information and the corresponding two-dimensional distance, and determine it as the first target base station position information of the target base station, so that the first target base station position information can be determined from the multiple reference two-dimensional base station position information according to the inner group point value, thereby improving the accuracy of determining the first target base station position information.

[0060] The embodiment of the present application provides a wireless communication system, which includes a target base station and an electronic device. The target base station and the robot can be connected via WIFI, or can be connected wirelessly via other frequency bands such as 2.4 GHz, or can be other wireless connection methods, such as connection based on other IoT wireless protocols. Among them, the target base station can be a UWB base station, etc., the electronic device can be a robot, etc., and the robot can be a service robot, etc.

[0061] See also Figure 1, the wireless communication system 100 includes a target base station 2 and an electronic device 1. The electronic device 1 includes an ultra-wideband tag 11, a first processor 12 and a first memory 13, at least one first processor 12 is respectively connected to the ultra-wideband tag 11 and the first memory 13 in communication, wherein the first memory 13 stores instructions that can be executed by at least one first processor 12, and the instructions are executed by the at least one first processor 12, so that the at least one first processor 12 can execute the location information acquisition method described below. Among them, the ultra-wideband tag 11 can be used to obtain the spatial distance between the electronic device 1 and the target base station 2, etc.

[0062] Please continue reading Figure 1 The target base station 2 includes a second processor 21, a second antenna 22 and a second memory 23. At least one second processor 21 is communicatively connected to the second memory 23 and the second antenna 22. The second memory 23 stores instructions that can be executed by at least one second processor 21. The instructions are executed by the at least one second processor 21 so that the at least one second processor 21 can execute the base station location information acquisition method described below.

[0063] As another aspect of the embodiment of the present application, the embodiment of the present application provides a method for obtaining base station location information, which is applied to an electronic device, and the electronic device includes an ultra-wideband tag 11. Figure 2A In the embodiment of the present application, the electronic device is described as a robot, and the method for obtaining the base station location information includes:

[0064] S201. Acquire a first robot position information set and a first distance set, wherein the first robot position information set includes k first robot position information, and the first distance set includes k first target two-dimensional distances, wherein the first target two-dimensional distance is the distance between the robot and the target base station at the position indicated by the first robot position information.

[0065] When the robot determines the location information of the target base station, the robot can move. Figure 2B As shown, when the robot moves, it may move in one direction from the initial position for a period of time, and then continue to move in a second direction for a period of time. For example, Figure 2BAs shown, it may be moving around the target base station. When the robot moves, it may move periodically according to the time interval between moments, for example, it moves in the time period between the first moment and the second moment. When it moves to the second moment, the robot may obtain its own position information and obtain the spatial distance between the robot and the target base station through the ultra-wideband tag. After obtaining the spatial distance between the robot and the target base station, the two-dimensional distance between the robot and the target base station may be determined according to the height of the robot, the height of the target base station and the spatial distance, and the two-dimensional distance may be determined as the first target two-dimensional distance. Specifically, the robot may obtain its own position information at each sampling moment to obtain the first robot position information, and obtain the first target two-dimensional distance at the sampling moment by the aforementioned method for determining the first target two-dimensional distance, thereby obtaining the distance between the robot and the target base station at the position indicated by the first robot position information.

[0066] The K first robot position information may be the position information of the robot itself acquired at k sampling moments, where k is an integer greater than or equal to 2.

[0067] S202: Determine m two-dimensional base station position information of the target base station according to k first robot position information and k first target two-dimensional distances.

[0068] The k first robot position information and the k first target two-dimensional distances can be preliminarily screened to obtain the screening results, and then the m two-dimensional base station position information of the target base station can be determined according to the screening results. For example, the screening can be performed according to the signal strength attenuation value of the ranging signal of the target base station received by the robot at the position indicated by the first robot position information. Specifically, for example, the first robot position information corresponding to the ranging signal whose signal strength attenuation value of the ranging signal is higher than the preset signal strength attenuation value is deleted, and the corresponding first target two-dimensional distance is deleted at the same time; the first robot position information corresponding to the ranging signal whose signal strength attenuation value of the ranging signal is less than or equal to the preset signal strength attenuation value is retained.

[0069] When determining the two-dimensional base station position information of the target base station, any two first robot position information in the screening results and the corresponding first target two-dimensional distances can be used to determine two two-dimensional base station position information, and the two two-dimensional base station position information is determined as the two-dimensional base station position information of the target base station.

[0070] S203: Obtain inner group point values ​​corresponding to the m two-dimensional base station position information to obtain m first inner group point values.

[0071] Among them, when determining the inner group point value corresponding to the two-dimensional base station position information, a reference robot position information set corresponding to the two-dimensional base station position information can be obtained, and the elements in the reference robot position information set are the position information of the first robot position information set except for the first position information and the second position information corresponding to the two-dimensional base station position information. The position information error value corresponding to the two-dimensional base station position information is determined based on the two-dimensional base station position information, the reference robot position information in the reference robot position information set, and the first target two-dimensional distance corresponding to the reference robot position information in the reference robot position information set, and the inner group point value is determined based on the position information error value.

[0072] S204: Determine the two-dimensional base station location information corresponding to the maximum value among the m first inner group point values ​​as the first target base station location information of the target base station.

[0073] By determining the two-dimensional base station location information corresponding to the maximum value in the first inner group point value as the first target base station location information of the target base station, it can be shown that the acquired first target base station location information is the optimal base station location information among the m two-dimensional base station location information, thereby improving the accuracy of acquiring the first target base station location information of the target base station.

[0074] In this example, by obtaining a first robot position information set, the first robot position information set includes k first robot position information, and obtaining a first distance set, the first distance set includes k first target two-dimensional distances, the first target two-dimensional distance is the distance between the robot and the target base station at the position indicated by the first robot position information, m two-dimensional base station position information of the target base station is determined according to the k first robot position information and the k first target two-dimensional distances, and the inner group point values ​​corresponding to the m two-dimensional base station position information are obtained to obtain m first inner group point values, and the two-dimensional base station position information corresponding to the maximum value of the m first inner group point values ​​is determined as the first target base station position information of the target base station. Therefore, the reference two-dimensional base station position information with the largest inner group point value can be obtained from multiple reference two-dimensional base station position information determined according to the robot position information and the corresponding two-dimensional distance, and it is determined as the first target base station position information of the target base station, so that the first target base station position information can be determined from multiple reference two-dimensional base station position information according to the inner group point value, thereby improving the accuracy of determining the first target base station position information.

[0075] In a possible implementation, a method for determining m two-dimensional base station position information of the target base station according to k first robot position information and k first target two-dimensional distances includes:

[0076] A1. Obtain k signal strength attenuation values ​​of the ranging signal received by the robot at the first robot position information from the target base station to obtain k first signal strength attenuation values;

[0077] A2. Determine n second signal strength attenuation values ​​from the k first signal strength attenuation values, wherein the second signal strength attenuation value is less than a preset signal strength attenuation value;

[0078] A3. Determine the m two-dimensional base station position information of the target base station according to the first robot position information corresponding to the n second signal strength attenuation values ​​and the first target two-dimensional distance corresponding to the n second signal strength attenuation values.

[0079] The signal strength attenuation value of the ranging signal can be obtained by a signal strength attenuation value detection sensor, etc., to obtain a first signal strength attenuation value. The ranging signal can be, for example, a dedicated signal sent by the target base station for distance measurement, and of course it can also be other signals that can be used for distance measurement, such as a broadcast signal sent by the target base station. The preset signal strength attenuation value is set by empirical value or historical data. Of course, since the robot moves around the target base station and measures the distance to the target base station, the robot should move around the target base station within a certain range. At this time, the preset signal strength attenuation value can be determined based on the range of motion and signal attenuation, etc. Specifically, the preset signal strength attenuation value can be obtained by adopting a general preset signal strength attenuation value acquisition method. Wherein, n is an integer less than k.

[0080] When determining the two-dimensional base station position information of the target base station, any two first robot position information among the first robot position information corresponding to the n second signal strength attenuation values ​​and the first target two-dimensional distance corresponding thereto may be used to determine two two-dimensional base station position information, and the two two-dimensional base station position information may be determined as the two-dimensional base station position information of the target base station. Wherein, m may be an integer greater than or equal to n, or an integer less than n.

[0081] In this example, k first robot position information are screened by using the signal strength attenuation value of the ranging signal received by the robot at the position indicated by the first robot position information, and the first robot position information whose signal strength attenuation value is greater than the preset signal strength attenuation value is obtained, and the m two-dimensional base station position information of the target base station is determined by the first robot position information, thereby improving the accuracy of determining the m two-dimensional base station position information of the target base station.

[0082] In a possible implementation, a method for determining m two-dimensional base station position information of the target base station according to first robot position information corresponding to n second signal strength attenuation values ​​and first target two-dimensional distances corresponding to n second signal strength attenuation values, includes:

[0083] B1. Acquire first position information and second position information, wherein the first position information is any one of the first robot position information corresponding to n second signal strength attenuation values, and the second position information is position information other than the first position information among the first robot position information corresponding to n second signal strength attenuation values.

[0084] B2. Determine first reference two-dimensional base station location information and second reference two-dimensional base station location information according to the first location information, the second location information, the first target two-dimensional distance corresponding to the first location information, and the first target two-dimensional distance corresponding to the second location information;

[0085] B3, determining the first reference two-dimensional base station location information and the second reference two-dimensional base station location information as the two-dimensional base station location information of the target base station;

[0086] B4. Repeat the above method of acquiring the first position information and the second position information, and determining the first reference two-dimensional base station position information and the second reference two-dimensional base station position information according to the first position information, the second position information, the first target two-dimensional distance corresponding to the first position information, and the first target two-dimensional distance corresponding to the second position information, to acquire the two-dimensional base station position information of the target base station, until j two-dimensional base station position information of the target base station is acquired;

[0087] B5. Obtain the type of the triangle formed by the j two-dimensional base station position information of the target base station and the corresponding first position information and second position information to obtain j first triangle types;

[0088] B6. Determine m two-dimensional base station location information of the target base station from j two-dimensional base station location information according to the j first triangle types.

[0089] Among them, Figure 2C As shown, Figure 2C A schematic diagram of obtaining first reference two-dimensional base station location information and second reference two-dimensional base station location information is shown. Specifically, Figure 2B As shown, the first base station position C may be the position indicated by the first reference two-dimensional base station position information, and the second base station position C' may be the position indicated by the second reference two-dimensional base station position information. The first reference two-dimensional base station position information and the second reference two-dimensional base station position information may be represented by position coordinates.

[0090] After the robot receives the ranging signal sent by the ultra-wideband base station BS at different positions, it determines based on the ranging signal that the first target two-dimensional distances between the robot at position A (the position indicated by the first position information) and position B (the position indicated by the second position information) and the position C indicated by the first reference two-dimensional base station position information of the target base station position are r1 and r2 respectively.

[0091] It should be noted that the distance used to determine the detection coordinates in this embodiment refers to a two-dimensional distance projected into a horizontal plane. When the target base station and the ultra-wideband tag in the robot are installed in the same horizontal plane, the distance obtained by processing the ranging signal is the two-dimensional distance. When the target base station and the ultra-wideband tag are installed in different horizontal planes, the distance obtained by processing the ranging signal is a three-dimensional distance, and the three-dimensional distance can be projected into the horizontal plane to obtain a two-dimensional distance. The projection processing method may be to determine the difference between the installation height of the target base station and the installation height of the ultra-wideband tag, subtract the square of the difference from the square of the distance obtained by processing the ranging signal, and then take the root to obtain the two-dimensional distance from the robot to the target base station. For example, the distance obtained by processing the ranging signal sent by the target base station is r1, the installation height of the target base station BS is z1, and the installation height of the ultra-wideband tag is z2. Then the two-dimensional distance from the robot to the target base station is

[0092] This embodiment is described by taking the distance obtained by processing the ranging signal as a two-dimensional distance in the horizontal plane as an example. The robot pre-stores the coordinates (x a ,y a ) and the coordinates of position B (x b ,y b ), according to the coordinates of position A (x a ,y a ) and the coordinates of position B (x b ,y b ) can determine the distance dp between position A and position B. The perimeter l of triangle ABC can be obtained by adding the distance dp, the first target two-dimensional distance r1 corresponding to position A, and the first target two-dimensional distance r2 corresponding to position B.

[0093] Since the area of ​​a triangle is calculated as:

[0094]

[0095] Substitute the distance dp, the first target two-dimensional distance r1 corresponding to position A, the first target two-dimensional distance r2 corresponding to position B, and the perimeter I of the triangle into this area calculation formula, and the area s of triangle ABC can be obtained. Point Q is the foot of the perpendicular from the position C of the first base station to the line connecting position A and position B (line segment AB). After obtaining the area s of triangle ABC, divide the area s by the length of line segment AB, that is, the distance dp, and then multiply by 2 to get the height h of triangle ABC. According to the Pythagorean theorem, based on the height h of triangle ABC and the first target two-dimensional distance r1 corresponding to position A, the length of line segment AQ can be calculated, that is, the distance from the foot Q of triangle ABC to position A is Based on the height h of triangle ABC and the first target two-dimensional distance r2 corresponding to position B, the length of line segment BQ can be calculated, that is, the distance from the foot Q of triangle ABC to position B is

[0096] Subtract the coordinates (x a , y a ) of position A from the coordinates (x b , y b ) of position B and then divide by the distance dp, and the unit direction vector (x ab , y ab ) from position A to position B can be obtained. If r1>r2, the coordinates of point Q are If r<r2, the coordinates of point Q are Since line segment CQ and line segment C’Q are respectively perpendicular to line segment AB, the unit direction vectors of line segment CQ and line segment C’Q can be obtained as (-y ab , x ab ) and (y ab , -x ab ) respectively. Correspondingly, the coordinates of the position C of the first base station can be calculated as the coordinates of point Q plus the product of the height h and (-y ab , x ab ), that is Thus, the first reference two-dimensional base station position information is obtained. The coordinates of the position C’ of the second base station are obtained as the coordinates of point Q plus the product of the height h and (y ab , -x ab ), that is Thus, the second reference two-dimensional base station position information is obtained.

[0097] By repeatedly executing the above method for determining the first reference two-dimensional base station location information and the second reference two-dimensional base station location information corresponding to the first location information and the second location information, j two-dimensional base station location information of the target base station can be obtained. The above two-dimensional base station location information may have insufficient accuracy, so it can be screened again. Specifically, since the base station location information is represented by location coordinates, the type of triangle (for example, triangle ABC) formed by the two-dimensional base station location information and the corresponding first location information and second location information can be obtained, and the m two-dimensional base station location information of the target base station can be determined from the j two-dimensional base station location information of the target base station according to the type of the triangle. Among them, the value of j can be n*(n-1) / 2, and m is an integer less than or equal to j.

[0098] In this example, after determining the first reference two-dimensional base station location information and the second reference two-dimensional base station location information based on the first location information, the second location information, the first target two-dimensional distance corresponding to the first location information, and the first target two-dimensional distance corresponding to the second location information to obtain j two-dimensional base station location information of the target base station, j first triangle types are obtained based on the type of triangle formed by the j two-dimensional base station location information and the corresponding first location information and second location information, and m two-dimensional base station location information of the target base station is determined from the j two-dimensional base station location information based on the first triangle type. Therefore, after determining the j two-dimensional base station location information, m two-dimensional base station location information of the target base station can be determined from the j two-dimensional base station location information based on the subsequent first triangle type, thereby improving the accuracy of subsequent acquisition of the first target base station location information of the target base station.

[0099] In a possible implementation, a method for determining m two-dimensional base station location information of the target base station from j two-dimensional base station location information according to j first triangle types includes:

[0100] C1. Obtain j acute triangles of the first triangle type to obtain m acute triangles;

[0101] C2. Determine the two-dimensional base station location information corresponding to the m acute-angle triangles as the two-dimensional base station location information of the target base station.

[0102] Among them, when acquiring location information, if the first triangle type is an acute triangle, the accuracy of the acquired two-dimensional base station location information is higher than that of a right triangle and an obtuse triangle. Therefore, the two-dimensional base station location information corresponding to m acute triangles is determined as the two-dimensional base station location information of the target base station, which can improve the accuracy of determining the two-dimensional base station location information of the target base station.

[0103] In a possible implementation, a method for obtaining inner group point values ​​corresponding to m two-dimensional base station position information to obtain m first inner group point values ​​includes:

[0104] D1. Obtain a reference robot position information set corresponding to target two-dimensional base station position information, wherein the elements in the reference robot position information set are position information of the first robot position information set except for the first position information and the second position information corresponding to the target two-dimensional base station position information, and the target two-dimensional base station position information is any one of the m two-dimensional base station position information;

[0105] D2, determining k-2 position information error values ​​according to the target two-dimensional base station position information, the reference robot position information in the reference robot position information set, and the first target two-dimensional distance corresponding to the reference robot position information in the reference robot position information set;

[0106] D3, obtaining a first value among k-2 position information error values ​​that is smaller than a preset position information error value;

[0107] D4, determining the first value as a first inner group point value corresponding to the target two-dimensional base station position information;

[0108] D5. Repeat the above method of determining the first inner group point value corresponding to the target two-dimensional base station position information based on the reference robot position information set corresponding to the target two-dimensional base station position information, until m inner group point values ​​corresponding to the two-dimensional base station position information are obtained, so as to obtain m first inner group point values.

[0109] The distance between the position indicated by the first target base station position information and the reference robot position information can be determined according to the first target base station position information and the reference robot position information, and the difference between the distance and the first target two-dimensional distance corresponding to the reference robot is determined as the position information error value. The preset position information error value is set by experience value or historical data.

[0110] The position corresponding to the reference robot position information whose position information error value is less than the preset position information error value can be determined as an inner group point, so that the inner group point value corresponding to the target two-dimensional base station position information can be obtained.

[0111] The above method for obtaining inner group point values ​​corresponding to target two-dimensional base station position information may be repeatedly performed until inner group point values ​​corresponding to m two-dimensional base station position information are obtained to obtain m first inner group point values.

[0112] In this example, the first value among the k-2 position information error values ​​that is smaller than the preset position information error value is obtained and determined as the first inner group point value corresponding to the target two-dimensional base station position information, thereby improving the accuracy of obtaining the first inner group point value corresponding to the target two-dimensional base station position information.

[0113] In a possible implementation, a method for determining k-2 position information error values ​​according to the target two-dimensional base station position information, the reference robot position information in the reference robot position information set, and the first target two-dimensional distance corresponding to the reference robot position information in the reference robot position information set includes:

[0114] The position information error value is determined by the method shown in the following formula:

[0115] error j = abs(r j -||Anchor_pos-Pos j ||),

[0116] Among them, Anchor_pos is the target two-dimensional base station location information, r j Pos is the first target two-dimensional distance corresponding to the jth reference robot position information in the reference robot position information set. j is the jth reference robot position information in the reference robot position information set, error j is the position information error value corresponding to the j-th reference robot position information, abs() is the absolute value operation, ||*|| is the norm operation;

[0117] Repeat the above method of obtaining the position information error value corresponding to the j-th reference robot position information until the position information error value corresponding to each reference robot position information in the reference robot position information set is obtained, and k-2 position information error values ​​are obtained.

[0118] In a possible implementation, a second robot position information set may be obtained, and second target base station position information may be determined based on the second robot position information set and a second distance set corresponding thereto, and the second target base station position information may be compared with the first target base station position information in terms of inner group point values, and the better base station position information may be determined as the base station position information of the target base station, thereby improving the accuracy of acquiring the base station position information of the target base station, specifically including:

[0119] E1. Obtain a second robot position information set, and obtain a second distance set;

[0120] E2. Determine the second target base station position information according to the second robot position information set and the second distance set;

[0121] E3. If the inner cluster point value of the second target base station location information is greater than the inner cluster point value of the first target base station location information, the second target base station location information is determined as the base station location information of the target base station.

[0122] The second robot position information in the second robot position information set may be partially identical to the first robot position information in the first robot position information set. The elements in the second distance set correspond one-to-one to the elements in the second robot position information set, and the correspondence between the first robot position information set and the first distance set in the aforementioned embodiment is referred to, and will not be repeated here.

[0123] The second target base station position information can be determined according to the second robot position information set and the second distance set by referring to the method for determining the first target base station position information according to the first robot position information set and the first distance set in the aforementioned embodiment, which will not be repeated here.

[0124] If the inner group point value of the second target base station location information is greater than the inner group point value of the first target base station location information, the second target base station location information is determined as the base station location information of the target base station, and the better second target base station location information can be determined as the base station location information of the target base station, which improves the accuracy of the base station location information of the target base station when determining the base station location information. Of course, if the inner group point value of the second target base station location information is less than the inner group point value of the first target base station location information, the first target base station location information is determined as the base station location information of the target base station. And if the inner group point value of the second target base station location information is the same as the inner group point value of the first target base station location information, the target base station location information corresponding to the smaller value of the mean of the k-2 position information error values ​​corresponding to them can be determined as the base station location information of the target base station. For example, if the mean of the position information error value corresponding to the first target base station location information is less than the mean of the position information error value corresponding to the second target base station location information, the second target base station location information is determined as the base station location information of the target base station.

[0125] It should be noted that, in each of the above-mentioned embodiments, there is not necessarily a certain order between the above-mentioned steps. A person skilled in the art can understand, based on the description of the embodiments of the present application, that in different embodiments, the above-mentioned steps may have different execution orders, that is, they may be executed in parallel, may be executed interchangeably, and so on.

[0126] See also Figure 3 , Figure 3 The following is a schematic diagram of the circuit structure of an electronic device provided in an embodiment of the present application. Figure 3As shown, the electronic device 300 includes an ultra-wideband tag 301, one or more processors 302, a memory 303, and an antenna 304. The processor 302 is in communication connection with the memory 303, the ultra-wideband tag 301, and the antenna 304.

[0127] The memory 303 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the method for obtaining base station location information in the embodiment of the present application. The processor 303 executes the functions of the method for obtaining base station location information provided in the above method embodiment by running the non-volatile software programs, instructions and modules stored in the memory 303.

[0128] The memory 303 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 303 may optionally include a memory remotely arranged relative to the processor 302, and these remote memories may be connected to the processor 302 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0129] The program instructions / modules are stored in the memory 303, and when executed by the one or more processors 302, the base station location information acquisition method in any of the above method embodiments is executed.

[0130] The present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, for example Figure 3 A processor 302 in the embodiment may enable the one or more processors to execute the base station location information acquisition method in any of the above method embodiments.

[0131] An embodiment of the present application also provides a chip, which includes at least one processor and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the base station location information acquisition method in any of the above method embodiments.

[0132] An embodiment of the present application also provides a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by an electronic device, the electronic device executes any one of the base station location information acquisition methods.

[0133] The above described device or equipment embodiments are merely illustrative, wherein the unit modules described as separate components may or may not be physically separated, and the components displayed as module units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0134] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0135] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Under the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes in different aspects of the present application as described above, which are not provided in detail for the sake of simplicity. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for obtaining base station location information, characterized in that: The base station location information acquisition method comprises: Acquire a first robot position information set and a first distance set, wherein the first robot position information set includes k first robot position information, and the first distance set includes k first target two-dimensional distances, wherein the first target two-dimensional distance is the distance between the robot and the target base station at the position indicated by the first robot position information; Determine m two-dimensional base station position information of the target base station according to k first robot position information and k first target two-dimensional distances; Obtaining inner group point values ​​corresponding to the m two-dimensional base station position information to obtain m first inner group point values; The two-dimensional base station location information corresponding to the maximum value among the m first inner group point values ​​is determined as the first target base station location information of the target base station.

2. The method for acquiring base station location information according to claim 1, characterized in that: The determining of the m two-dimensional base station position information of the target base station according to the k first robot position information and the k first target two-dimensional distances includes: Acquire k signal strength attenuation values ​​of the ranging signal received by the robot from the target base station at the position information of the first robot to obtain k first signal strength attenuation values; Determine n second signal strength attenuation values ​​from the k first signal strength attenuation values, wherein the second signal strength attenuation value is less than a preset signal strength attenuation value; According to the first robot position information respectively corresponding to the n second signal strength attenuation values ​​and the first target two-dimensional distances respectively corresponding to the n second signal strength attenuation values, the m two-dimensional base station position information of the target base station is determined.

3. The method for acquiring base station location information according to claim 2, characterized in that: The determining of the m two-dimensional base station position information of the target base station according to the first robot position information respectively corresponding to the n second signal strength attenuation values ​​and the first target two-dimensional distance respectively corresponding to the n second signal strength attenuation values ​​comprises: Acquire first position information and second position information, wherein the first position information is any one of the first robot position information corresponding to the n second signal strength attenuation values, and the second position information is position information other than the first position information among the first robot position information corresponding to the n second signal strength attenuation values; Determine first reference two-dimensional base station position information and second reference two-dimensional base station position information according to the first position information, the second position information, the first target two-dimensional distance corresponding to the first position information, and the first target two-dimensional distance corresponding to the second position information; Determine the first reference two-dimensional base station location information and the second reference two-dimensional base station location information as the two-dimensional base station location information of the target base station; Repeat the above method of acquiring the first location information and the second location information, and determining the first reference two-dimensional base station location information and the second reference two-dimensional base station location information according to the first location information, the second location information, the first target two-dimensional distance corresponding to the first location information, and the first target two-dimensional distance corresponding to the second location information to acquire the two-dimensional base station location information of the target base station until j pieces of two-dimensional base station location information of the target base station are acquired; Acquire the type of the triangle formed by the j two-dimensional base station position information of the target base station and the corresponding first position information and second position information to obtain j first triangle types; According to the j first triangle types, m two-dimensional base station location information of the target base station is determined from the j two-dimensional base station location information.

4. The method for acquiring base station location information according to claim 3, characterized in that: Determining m two-dimensional base station location information of the target base station from j two-dimensional base station location information according to j first triangle types, including: Obtain j acute triangles of the first triangle type to obtain m acute triangles; The two-dimensional base station location information corresponding to the m acute-angle triangles is determined as the two-dimensional base station location information of the target base station.

5. The method for acquiring base station location information according to claim 3 or 4, characterized in that: The acquiring inner group point values ​​corresponding to the m two-dimensional base station position information to obtain m first inner group point values ​​includes: Acquire a reference robot position information set corresponding to target two-dimensional base station position information, wherein the elements in the reference robot position information set are position information of the first robot position information set except for the first position information and the second position information corresponding to the target two-dimensional base station position information, and the target two-dimensional base station position information is any one of the m two-dimensional base station position information; Determine k-2 position information error values ​​according to the target two-dimensional base station position information, the reference robot position information in the reference robot position information set, and the first target two-dimensional distance corresponding to the reference robot position information in the reference robot position information set; Obtain a first value among k-2 position information error values ​​that is smaller than a preset position information error value; Determine the first value as a first inner group point value corresponding to the target two-dimensional base station position information; Repeat the above method of determining the first inner group point value corresponding to the target two-dimensional base station position information according to the reference robot position information set corresponding to the target two-dimensional base station position information until m inner group point values ​​corresponding to the two-dimensional base station position information are obtained to obtain m first inner group point values.

6. The method for acquiring base station location information according to claim 5, characterized in that: The step of determining k-2 position information error values ​​according to the target two-dimensional base station position information, the reference robot position information in the reference robot position information set, and the first target two-dimensional distance corresponding to the reference robot position information in the reference robot position information set comprises: The position information error value is determined by the method shown in the following formula: error j =abs(r j -||Anchor_pos-Pos j ||), Among them, Anchor_pos is the target two-dimensional base station location information, r j Pos is the first target two-dimensional distance corresponding to the jth reference robot position information in the reference robot position information set. j is the jth reference robot position information in the reference robot position information set, error j is the position information error value corresponding to the j-th reference robot position information, abs() is the absolute value operation, ||*|| is the norm operation; Repeat the above method of obtaining the position information error value corresponding to the j-th reference robot position information until the position information error value corresponding to each reference robot position information in the reference robot position information set is obtained, and k-2 position information error values ​​are obtained.

7. The method for acquiring base station location information according to any one of claims 1 to 6, characterized in that: The method further comprises: Acquire a second robot position information set, and acquire a second distance set; Determine second target base station position information according to the second robot position information set and the second distance set; If the inner cluster point value of the second target base station location information is greater than the inner cluster point value of the first target base station location information, the second target base station location information is determined as the base station location information of the target base station.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the method for acquiring base station location information as described in any one of claims 1 to 7.

9. A chip, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the base station location information acquisition method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: include: Ultra-wideband tags; at least one processor, communicatively connected to the ultra-wideband tag; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the base station location information acquisition method according to any one of claims 1 to 7.

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