Marking device and position identification method

Abstract

The embodiment of the invention provides marking equipment and a position identification method, and the marking equipment comprises a light-emitting array which is used for outputting a first optical signal; the light shielding unit is used for preventing a first part of light signals in the first light signals from propagating to the first position and preventing a second part of light signals in the first light signals from propagating to the second position, and the first part of light signals and the second part of light signals are different.

Description

Technical Field

[0001] The present application relates to a marking device and a position identification method. Background Art

[0002] Service robots and unmanned vehicles need to work together in certain specific scenarios. After work, the unmanned vehicle needs to retrieve the service robot. How to automatically guide the service robot to the unmanned vehicle is a problem that needs to be solved. Summary of the invention

[0003] Embodiments of the present application provide a marking device and a location recognition method.

[0004] The technical solution of this application is implemented as follows:

[0005] In a first aspect, an embodiment of the present application provides a marking device, the device comprising:

[0006] A light emitting array, configured to output a first light signal;

[0007] The light shielding unit is used to prevent a first portion of the first light signal from propagating to a first position, and to prevent a second portion of the first light signal from propagating to a second position, wherein the first portion of the light signal is different from the second portion of the light signal.

[0008] In the above-mentioned marking device, the light-emitting array includes at least one light-emitting unit, and the at least one light-emitting unit is at least one of the following:

[0009] At least one light emitting unit flashes synchronously using the same preset flashing frequency to generate a first light signal; or,

[0010] At least one light emitting unit flashes using different preset flashing frequencies to generate a first light signal.

[0011] In the above-mentioned marking device, the light shielding unit has a grid structure.

[0012] In the above marking device, the grid structure includes a strip grid, the grid structure includes a plurality of regions, and the strip grids in the plurality of regions are arranged in the same or different directions.

[0013] In the above marking device, the multiple areas include a first area and a second area, and the arrangement directions of the bar grids in the first area and the bar grids in the second area are perpendicular to each other.

[0014] In the above marking device, the grid structure includes at least one of the following: an annular grid, a spiral grid.

[0015] In a second aspect, an embodiment of the present application provides a location recognition method, which is applied to a first device, and the method includes:

[0016] When observing the marking device from the target position, a second optical signal output by the marking device is obtained; the second optical signal is an optical signal obtained after the light shielding unit in the marking device shields part of the optical signal in the first optical signal; the first optical signal is output by the light emitting array in the marking device;

[0017] A target position relationship of the target position relative to the marking device is determined based on the second light signal.

[0018] In the above position recognition method, determining the target position relative to the target position of the marking device according to the second optical signal includes:

[0019] Capturing an image of the marking device based on the second optical signal to obtain first image data;

[0020] A first position relationship corresponding to the first image data is determined from the corresponding relationship between the preset image data and the relative position, and the first position relationship is determined as the target position relationship of the target position relative to the marking device.

[0021] In the above position recognition method, determining the target position relative to the target position of the marking device according to the second optical signal includes:

[0022] Collecting a first event stream corresponding to the second light signal within a preset time period; the first event stream includes a group of events; each event is output when a brightness change of the second light signal is sensed;

[0023] The first event stream is input into a preset position prediction model, and the preset position prediction model is used to predict a target position relationship relative to a target position of a marking device.

[0024] An embodiment of the present application provides a marking device and a position identification method, wherein the marking device includes: a light-emitting array for outputting a first light signal; a light blocking unit for preventing a first portion of the light signal in the first light signal from propagating to a first position, and preventing a second portion of the light signal in the first light signal from propagating to a second position, wherein the first portion of the light signal is different from the second portion of the light signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A structural diagram of a marking device provided in an embodiment of the present application;

[0026] Figure 2 An exemplary grid schematic diagram provided for an embodiment of the present application;

[0027] Figure 3 A flowchart of a location identification method provided in an embodiment of the present application;

[0028] Figure 4An exemplary method flow for determining a target position relationship provided in an embodiment of the present application Figure 1 ;

[0029] Figure 5 An exemplary method flow for determining a target position relationship provided in an embodiment of the present application Figure 2 ;

[0030] Figure 6 An exemplary grayscale image of a first event stream provided in an embodiment of the present application;

[0031] Figure 7 An exemplary binary image of a first event stream provided in an embodiment of the present application;

[0032] Figure 8 A schematic diagram of an exemplary location identification process provided in an embodiment of the present application;

[0033] Fig. 9 A schematic diagram of the composition of an exemplary marking device provided in an embodiment of the present application;

[0034] Fig.10 A schematic diagram of the motion of an exemplary robotic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0036] As a new type of sensor, Dynamic Vision Sensor (DVS) has gradually emerged in many fields with its own characteristics of high dynamic range, low latency and low power consumption. The regional road traffic system is a complex dynamic system, and its state is often complex and changeable. The sensor responds quickly and accurately to external events under different lighting and road conditions. Traditional frame-based cameras are restricted to a certain extent, and the characteristics of DVS can just make up for the shortcomings of traditional cameras.

[0037] In the brain science project, service robots with different functions are set up according to project requirements to work together with unmanned vehicles. One of the important tasks is that unmanned vehicles need to carry indoor service robots of various shapes between buildings in the park. This function is achieved by modifying the unmanned vehicles and adding service robot recovery devices. How to automatically guide the service robot to the recovery device is a posture estimation and positioning problem that needs to be solved.

[0038] The traditional solution is the augmented reality marking method, which obtains the posture transformation relationship between the corresponding mark and the observer (camera) by identifying the special black and white marks, and derives the posture and position of the observer (camera) based on the known mark posture and position. However, in practical applications, this method will be affected by the camera frame rate during the movement of the service robot. The faster the relative position of the service robot and the mark changes, the more serious the motion blur is, and the lower the recognition rate of the augmented reality mark is. In addition, for those who need to work outdoors or in situations where the ambient light is weak, the method based on traditional image analysis is easily affected by ambient lighting conditions.

[0039] Based on the above technical problems, the embodiment of the present application provides a marking device 1, Figure 1 A schematic diagram of the structure of a marking device provided in this application, such as Figure 1 As shown, the marking device 1 comprises:

[0040] The light emitting array 10 is used to output a first light signal;

[0041] The light shielding unit 11 is used to prevent a first portion of the first light signal from propagating to a first position, and to prevent a second portion of the first light signal from propagating to a second position, wherein the first portion of the light signal is different from the second portion of the light signal.

[0042] A marking device 1 provided in an embodiment of the present application is suitable for guiding a first device to move to a marking device.

[0043] In some embodiments, the first device can be a robotic device, and the marking device can be installed on the recovery device of the recovery robot. The robotic device can determine the positional relationship between itself and the recovery device based on the marking device, thereby planning a route to autonomously move to the recovery device to complete the recovery operation of the robotic device; the specific usage of the first device and the marking device can be selected according to actual conditions, and the embodiments of the present application are not specifically limited here.

[0044] In some embodiments, the light emitting array 10 is a light emitting diode (LED) light emitting panel, which is used to generate and output a first light signal. The specific light emitting array 10 can be selected according to actual conditions, and the embodiments of the present application do not make specific limitations here.

[0045] In some embodiments, the light blocking unit 11 can be understood as being able to prevent different parts of the first light signal from propagating to different positions, that is, when observing the first light signal from different positions, the light blocking unit can correspondingly prevent a part of the light signal from propagating to the position, and the part of the light signal corresponding to each position can be separate or partially overlapped. Based on this, when the first device observes the light-emitting array from the first position, the light blocking unit 11 can block the first part of the light signal corresponding to the first position in the first light signal, thereby preventing the first part of the light information from propagating to the first position. As a result, the light signal observed by the first device is the light signal except the part of the light signal in the first light signal. The remaining light signal other than the first part of the light signal. Similarly, when the first device observes the light-emitting array from the second direction, the light blocking unit 11 can block the second part of the light signal corresponding to the second position in the first light signal, thereby preventing the second part of the light information from propagating to the second position. As a result, the light signal observed by the first device is the remaining light signal other than the second part of the light signal in the first light signal. Similarly, there is a corresponding third part of the light signal at the third position. Since there is an unobservable partial light signal at each position, the first device can determine the positional relationship relative to the marking device 1 based on the observed partial light signal, thereby moving to the marking device.

[0046] In some embodiments, the light emitting array 10 is further configured to generate a first light signal based on a preset flashing frequency.

[0047] In some embodiments, the light-emitting array 10 is an LED light-emitting panel, and the LED light-emitting panel continuously flashes at a preset flashing frequency to generate a first light signal.

[0048] Exemplarily, the preset flashing frequency can be understood as the refresh frequency of the LED, that is, the number of times the LED is refreshed per unit time, usually in Hertz. For example, a flashing frequency of 50 Hz means that the LED light panel is refreshed 50 times per second, and a flashing frequency of 100 Hz means that the LED light panel is refreshed 100 times per second. The specific preset flashing frequency can be determined based on actual conditions, and the embodiments of the present application are not specifically limited here.

[0049] In some embodiments, the light-emitting array 10 includes at least one light-emitting unit, and the at least one light-emitting unit is at least one of the following: at least one light-emitting unit flashes synchronously using the same preset flashing frequency to generate a first light signal; or, at least one light-emitting unit flashes using different preset flashing frequencies to generate a first light signal.

[0050] In some embodiments, the light-emitting unit can be an LED, that is, the LED light-emitting panel includes at least one LED, and the at least one LED can flash synchronously using the same preset flashing frequency to generate a first light signal; it should be emphasized that in order to achieve the synchronous flashing of at least one LED, it is necessary to control the on time and off time of each LED to be the same.

[0051] In other embodiments, at least one LED may also flash using different preset flashing frequencies to generate a first light signal; it should be emphasized that among the at least one LED, some LEDs may flash at a first flashing frequency, some LEDs may flash at a second flashing frequency, and the remaining LEDs may flash at a third flashing frequency, and the first flashing frequency, the second flashing frequency and the third flashing frequency are different, thereby achieving the purpose of flashing at least one LED at different flashing frequencies.

[0052] It should be noted that at least one light emitting unit may also flash asynchronously using the same preset flashing frequency to generate the first light signal, that is, the initial start flashing time of each LED is asynchronous.

[0053] In some embodiments, the light shielding unit 11 has a grid structure.

[0054] In some embodiments, the light shielding unit 11 can be understood as a grid film having a grid structure. After the first light signal output by the light emitting array 10 passes through the grid film, part of the light signal is shielded by the grid film.

[0055] In some embodiments, the grille film can block corresponding portions of the light signal for different observation directions. For example, the grille film includes grilles arranged according to at least one direction. Based on this, when the first device observes the marking device from different directions, the luminous amount of the light signal observed is different, thereby enabling the first device to infer the positional relationship between itself and the marking device.

[0056] In some embodiments, the grid structure includes a strip grid, and the grid structure includes a plurality of regions, and the strip grids in the plurality of regions are arranged in the same or different directions.

[0057] In some embodiments, the grating structure in the grating film may be composed entirely of strip gratings, or a portion of the grating structure may be a strip grating. The strip grating may be understood to be composed of a plurality of strip structures. When the first light signal passes through the strip grating, only the light signal matching the direction of the strip structure of the strip grating can pass through, and other light signals will be blocked or absorbed by the grating film.

[0058] In some embodiments, the arrangement direction of the strip grilles in different areas is the same. For example, the strip grilles in the grille film are all arranged horizontally, or are all arranged vertically, or are arranged based on a preset angle; the arrangement direction of the strip grilles in the grille film can be specifically set according to actual conditions.

[0059] In other embodiments, the arrangement directions of the strip grilles in different areas are the same. For example, the strip grilles in the first area of ​​the grille membrane are arranged horizontally, the strip grilles in another area are arranged vertically, and the strip grilles in the remaining areas are arranged based on preset angles. The arrangement directions of the strip grilles in different areas of the grille membrane can be specifically set according to actual conditions.

[0060] In some embodiments, the plurality of regions include a first region and a second region, and the arrangement directions of the bar grids in the first region and the bar grids in the second region are perpendicular to each other.

[0061] In some embodiments, the grille film includes a first area and a second area, wherein the arrangement direction of the bar grilles in the first area is perpendicular to the arrangement direction of the bar grilles in the second area; illustratively, the bar grilles in the first area are arranged horizontally, and the bar grilles in the second area are arranged vertically; or, the bar grilles in the first area are arranged vertically, and the bar grilles in the second area are arranged horizontally; or, the bar grilles in the first area are arranged horizontally with a 30-degree offset, and the bar grilles in the second area are arranged horizontally with a 120-degree offset; the specific arrangement direction of the first area and the second area can be set according to actual conditions.

[0062] In some embodiments, the grid structure includes at least one of the following: an annular grid, a spiral grid.

[0063] In some embodiments, the grille structure can be not only a bar grille, but also a ring grille or a spiral grille, or the grille structure includes not only a bar grille, but also a ring grille or a spiral grille, or the grille structure includes a bar grille, a ring grille and a spiral grille at the same time; exemplarily, the grille structure includes multiple areas, wherein the grille structure of some areas is a bar grille, the grille structure of some areas is a ring grille, and the grille structure of the remaining areas is a spiral grille; the specific composition of the grille structure can be set according to actual conditions.

[0064] For example, reference Figure 2 (a) shows a schematic diagram of an exemplary bar grid, referring to Figure 2 (b) shows a schematic diagram of an exemplary annular grid, referring to Figure 2 (c) shows a schematic diagram of an exemplary spiral grid. The grid structure can also be other structures, which are not specifically limited in this application.

[0065] In some embodiments, different grille structures may have a certain degree of angle with the surface of the light blocking unit 11. For example, each strip structure in the strip grille may have an angle of 30 degrees, 50 degrees, or 80 degrees with the surface of the light blocking unit 11, thereby better limiting the passage of some light signals. The angles of different strip structures may be the same or different, and the specific angle setting method may be determined according to actual conditions.

[0066] An embodiment of the present application provides a marking device, including: a light-emitting array for outputting a first light signal; a light blocking unit for preventing a first part of the light signal in the first light signal from propagating to a first position, and preventing a second part of the light signal in the first light signal from propagating to a second position, wherein the first part of the light signal and the second part of the light signal are different; by adopting the above-mentioned implementation scheme, the present application sets a light-emitting array on the marking device, and the positioning method based on the light signal can improve the accuracy of position recognition in complex ambient light scenes.

[0067] Based on the above embodiment, in another embodiment of the present application, a location identification method is further provided, which is applied to a first device. Figure 3 A flow chart of a location identification method provided in an embodiment of the present application is as follows: Figure 3 As shown, the location recognition method includes the following steps S300 to S301:

[0068] Step S300, when observing the marking device from the target position, obtain a second light signal output by the marking device; the second light signal is a light signal obtained after the light shielding unit in the marking device shields part of the light signal in the first light signal; the first light signal is output by the light emitting array in the marking device.

[0069] In an embodiment of the present application, the first device obtains a second light signal output by the marking device when observing the marking device from the target position; the second light signal is a light signal obtained after a light blocking unit in the marking device blocks part of the first light signal; the first light signal is output by the light-emitting array in the marking device.

[0070] In some embodiments, since the first device is a marking device observing at the target position, when observing the first light signal in the observation direction corresponding to the target position, the light blocking unit blocks part of the light signal corresponding to the observation direction, thereby obtaining a second light signal.

[0071] Step S301: Determine the target position relationship relative to the target position of the marking device according to the second optical signal.

[0072] In the embodiment of the present application, after acquiring the second optical signal output by the marking device, the first device determines the target position relative to the target position of the marking device according to the second optical signal.

[0073] In some embodiments, after determining the target position relationship, the first device may plan a route between the first device and the marking device based on the target position and the target position relationship, so that the first device can move to the marking device based on the route.

[0074] In some embodiments, reference Figure 4 The first device determines the target position relative to the target position of the marking device according to the second optical signal, including the following steps S400 to S401:

[0075] Step S400: Capture an image of the marking device based on the second optical signal to obtain first image data.

[0076] In some embodiments, the first device can perform image capture based on the second light signal to obtain first image data, which may include the current ambient light brightness. Since part of the light signal will be blocked when observing the first light signal from different directions, the observed amount of light will be different, thereby affecting the current ambient light brightness. These brightness information can be reflected in the first image data.

[0077] Step S401: Determine a first position relationship corresponding to first image data from a correspondence relationship between preset image data and relative positions, and determine the first position relationship as a target position relationship of a target position relative to a marking device.

[0078] In some embodiments, different relative positions can be determined for different ambient light brightnesses. Thus, after determining the current ambient light brightness, the first device can search for a first position relationship corresponding to the ambient light brightness from the correspondence between preset image data and relative positions, and determine the first position relationship as the target position relationship.

[0079] In some embodiments, reference Figure 5 The first device determines the target position relative to the target position of the marking device according to the second optical signal, including the following steps S500 to S501:

[0080] Step S500: collecting a first event stream corresponding to the second light signal within a preset time period; the first event stream includes a group of events; each event is output when a brightness change of the second light signal is sensed.

[0081] In some embodiments, a DVS may be set on the first device, and the DVS may shoot the second optical signal, that is, capture the second optical signal to obtain a first event stream, and the first event stream may be composed of events generated within a preset time period; exemplarily, refer to Figure 6 , which is the grayscale image accumulated by events generated within 2ms; refer to Figure 7 (a) is a binary image of the event accumulation within 0.1ms of the first timestamp. Figure 7 (b) is a binary image of the event accumulation within 0.1ms of the second timestamp, Figure 7 (c) is a binary image of the event accumulation generated within 0.1ms of the third timestamp, Figure 7 (d) is a binary image of the event accumulation generated within 0.1ms of the fourth timestamp. It can be seen that since four areas are set in the grid film, the grid distribution direction of the grid film in each area is different. Therefore, the image corresponding to each area is different. Based on this, the target position relationship relative to the marking device can be predicted according to the generated first event stream.

[0082] Step S501: input a first event stream into a preset position prediction model, and use the preset position prediction model to predict a target position relationship relative to a target position of a marking device.

[0083] In some embodiments, the preset location prediction model is a structured components-based neural network (SCNN) model. The SCNN model is trained based on event streams and corresponding position relationships. Therefore, after the first event stream is input into the SCNN model, the SCNN model can output the corresponding target position relationship.

[0084] It is understandable that when the surrounding brightness is low, the position recognition accuracy of the traditional positioning and recovery method for the first device is low. The present application sets a light-emitting array on the marking device and performs positioning based on light signals to improve the accuracy of position recognition in low-light scenarios.

[0085] An embodiment of the present application provides a position recognition method, which is applied to a first device. When observing a marking device from a target position, a second light signal output by the marking device is obtained; the second light signal is a light signal obtained after a light blocking unit in the marking device blocks part of the light signal in the first light signal; the first light signal is output by a light-emitting array in the marking device; the relationship of the target position relative to the target position of the marking device is determined based on the second light signal; by adopting the above-mentioned implementation scheme, the present application sets a light-emitting array on the marking device, and the positioning method based on the light signal can improve the accuracy of position recognition in complex ambient light scenes.

[0086] The following embodiments take the case where the marking device is deployed on a robot recovery device and the first device is a robot device as an example to explain the above position recognition method.

[0087] refer to Figure 8 , which is a schematic diagram of an exemplary position recognition process. It can be seen that the marking device (Marker) 80 is placed on the robot recovery device 81, and the Marker 80 emits a light signal. The robot device 82 determines the position relationship between itself and the robot recovery device 81 based on the light signal, and then moves to the robot recovery device 81 based on the position relationship, thereby realizing the recovery process of the robot device.

[0088] refer to Fig. 9 The Marker is mainly composed of a housing 90, a control circuit and a charging circuit 91, a battery 92, an LED light-emitting board (the light-emitting array in the above embodiment) 93, and a special filter film (the light shielding unit in the above embodiment) 94 from left to right. The working process is as follows:

[0089] Step 1: The LED light-emitting panel continuously flashes at a specific frequency to generate light.

[0090] Step 2: The light generated by the LED light-emitting panel reaches the special filter film.

[0091] Step 3: The light passing through the special filter film is captured by the DVS on the robot device.

[0092] Step 4: Input the event stream captured by DVS into the SCNN model to infer the position relationship.

[0093] Step 5: The robot device moves to the robot recovery device based on the position relationship to achieve the recovery of the robot device. Fig.10 (a) Fig.10 (b) Fig.10 (c) and Fig.10 (d) The robotic device gradually moves into the robotic recovery device.

[0094] It can be understood that this solution utilizes the sensitivity of DVS to changes in light intensity and its high temporal resolution characteristics to enable the robot equipment to achieve posture estimation with a high dynamic response level in complex outdoor lighting environments (low light or direct sunlight). Compared with traditional marking methods, this solution is almost unaffected by motion blur and can reduce energy consumption during the recycling process.

[0095] An embodiment of the present application provides a computer storage medium, which stores one or more programs. The one or more programs can be executed by one or more processors to implement the steps of the location identification method of any of the above embodiments.

[0096] An embodiment of the present application provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements some or all of the steps in the above-mentioned location identification method.

[0097] It should be noted here that the description of the various embodiments above tends to emphasize the differences between the various embodiments, and the same or similar aspects can be referenced to each other. The description of the above device, storage medium, computer program and computer program product embodiments is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the embodiments of the device, storage medium, computer program and computer program product of this application, please refer to the description of the method embodiment of this application for understanding.

[0098] The processor may be at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a Central Processing Unit (CPU), a controller, a microcontroller, and a microprocessor. It is understandable that the electronic device that implements the functions of the processor may also be other, and the embodiments of the present application are not specifically limited.

[0099] The above-mentioned computer storage medium / memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory (Flash Memory), a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM) and the like; it can also be various terminals including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0100] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the serial number of each step / process mentioned above does not mean the order of execution, and the execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. The serial numbers of the embodiments of the present application mentioned above are for description only and do not represent the advantages and disadvantages of the embodiments.

[0101] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0102] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0103] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0104] In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be a separate unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0105] A person skilled in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, etc., various media that can store program codes.

[0106] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a first device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0107] The above is only an implementation method of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A marking device, comprising: A light emitting array, configured to output a first light signal; The light shielding unit is used to prevent a first portion of the first light signal from propagating to a first position, and to prevent a second portion of the first light signal from propagating to a second position, wherein the first portion of the light signal is different from the second portion of the light signal. 2 . The device according to claim 1 , wherein the light emitting array is further configured to generate the first light signal based on a preset flashing frequency.

3. The device according to claim 2, wherein the light emitting array comprises at least one light emitting unit, and the at least one light emitting unit is at least one of the following: The at least one light emitting unit flashes synchronously using the same preset flashing frequency to generate the first light signal; or, The at least one light emitting unit flashes using different preset flashing frequencies to generate the first light signal. The device according to any one of claims 1 to 3, wherein the light shielding unit has a grid structure. 5 . The device according to claim 4 , wherein the grid structure comprises a strip grid, the grid structure comprises a plurality of regions, and the strip grids in the plurality of regions are arranged in the same or different directions. 6 . The device according to claim 5 , wherein the plurality of regions include a first region and a second region, and the arrangement directions of the strip grids in the first region and the strip grids in the second region are perpendicular to each other.

7. The device according to claim 4, wherein the grid structure comprises at least one of the following: an annular grid, a spiral grid.

8. A location identification method, applied to a first device, the method comprising: Acquiring a second optical signal output by the marking device while observing the marking device from the target position; The second optical signal is an optical signal obtained after the light shielding unit in the marking device shields part of the optical signal in the first optical signal; the first optical signal is output by the light emitting array in the marking device; A target position relationship of the target position relative to the marking device is determined based on the second light signal.

9. The method according to claim 8, wherein determining the target position relative to the target position of the marking device according to the second optical signal comprises: Performing image acquisition on the marking device based on the second optical signal to obtain first image data; A first position relationship corresponding to the first image data is determined from the corresponding relationship between preset image data and relative positions, and the first position relationship is determined as the target position relationship of the target position relative to the marking device.

10. The method according to claim 8, wherein determining the target position relative to the target position of the marking device according to the second optical signal comprises: Collecting a first event stream corresponding to the second optical signal within a preset time period; The first event stream includes a group of events; each event is output when a brightness change of the second light signal is sensed; The first event stream is input into a preset position prediction model, and the preset position prediction model is used to predict the target position relationship of the target position relative to the marking device.

Images