Positioning device and positioning method

Abstract

According to the positioning device and the positioning method, attitude information of a to-be-positioned component is measured in a first mode, and the first mode is that the attitude information of the to-be-positioned component is measured through an attitude sensor arranged on the to-be-positioned component; acquiring attitude information of the to-be-positioned component in a second mode different from the first mode; and based on the attitude information measured in the first mode and the attitude information obtained in the second mode, determining the attitude information of the to-be-positioned component for output. The attitude information obtained by the method is more reliable.

Description

Technical Field

[0001] This application relates to the field of positioning, and specifically relates to a positioning device and a positioning method. Background Art

[0002] There are more and more application scenarios for positioning an object, so positioning technologies have also developed vigorously. Positioning an object also includes determining the attitude information of the object. In the prior art, most of them measure the attitude information of the object through devices such as gyroscopes and accelerometers. However, this also has limitations. Summary of the Invention

[0003] Considering the above problems, this application provides a positioning device and a positioning method, which will be specifically described below.

[0004] According to a first aspect, an embodiment provides a positioning device, including: at least one base station, at least three tags, an attitude sensor, and a processor;

[0005] At least three of the tags are arranged on the component to be positioned in a non-linear manner;

[0006] At least one of the base stations is configured to transmit signals to each of at least three of the tags and receive the signals returned by the tag;

[0007] The attitude sensor is arranged on the component to be positioned and is configured to measure the attitude information of the component to be positioned;

[0008] The processor is configured to:

[0009] Based on the signals transmitted by at least one of the base stations to each of at least three of the tags and the signals returned by the tag, calculate the relative position information between each of at least three of the tags and at least one of the base stations;

[0010] Based on the relative position information between each of at least three of the tags and at least one of the base stations, calculate the attitude information of the component to be positioned;

[0011] Based on the calculated attitude information and the attitude information measured by the attitude sensor, obtain the attitude information of the component to be positioned for output.

[0012] In one embodiment, the relative position information includes a relative distance and a relative angle.

[0013] In one embodiment, when the processor calculates the attitude information of the component to be positioned based on the relative position information between each of at least three of the tags and at least one of the base stations, it includes:

[0014] Calculate the spatial position of each of the tags based on the relative position information between each of the tags and at least one of the base stations;

[0015] Calculate the spatial plane determined by at least three of the tags based on the spatial positions of at least three of the tags;

[0016] Calculate the attitude information of the component to be located based on the determined spatial plane.

[0017] In one embodiment, when at least one of the base stations is a single base station, the single base station has at least three antennas for transmitting and receiving signals.

[0018] In one embodiment, the three antennas are arranged at three positions of the single base station, and the three positions are not on a straight line.

[0019] In one embodiment, the three positions are arranged according to the three vertices of a right triangle.

[0020] In one embodiment, the three antennas include a first antenna, a second antenna, and a third antenna; the processor calculates a first relative distance between the first antenna and a tag based on the signals transmitted and received by the first antenna, calculates a first signal phase difference based on the signals transmitted and received by the first antenna and the signals transmitted and received by the second antenna, calculates a second signal phase difference based on the signals transmitted and received by the first antenna and the signals transmitted and received by the third antenna, and calculates the relative position information between the single base station and a tag based on the first relative distance, the first signal phase difference, and the second signal phase difference; wherein, the first signal phase difference is the phase difference between the signal received by the first antenna and the signal received by the second antenna, and the second signal phase difference is the phase difference between the signal received by the first antenna and the signal received by the third antenna.

[0021] In one embodiment, the processor is further configured to: calculate the spatial position of the component to be located based on the relative position information between at least one of the tags and at least one of the base stations.

[0022] In one embodiment, the base station is a UWB type base station, and the tag is a UWB type tag.

[0023] According to a second aspect, an embodiment provides a positioning device, including: a first attitude acquisition component, a second attitude acquisition component, and an output component;

[0024] The first attitude acquisition component is disposed on the component to be located and is configured to measure the attitude information of the component to be located, and the first attitude acquisition component includes an attitude sensor.

[0025] The second attitude acquisition component is configured to acquire the attitude information of the component to be positioned in a manner different from that of the first attitude acquisition component;

[0026] The output component is configured to determine the attitude information of the component to be positioned for output based on the attitude information measured by the first attitude acquisition component and the attitude information acquired by the second attitude acquisition component.

[0027] In one embodiment, the second attitude acquisition component includes an image acquisition component and a calculation unit. The image acquisition component is configured to acquire image information of the component to be positioned, and the calculation unit is configured to acquire the attitude information of the component to be positioned based on the image information of the component to be positioned.

[0028] In one embodiment, the second attitude acquisition component includes a spatial position measurement component and a calculation unit. The spatial position measurement component is configured to measure the spatial positions of at least three sites on the component to be positioned, and the calculation unit is configured to acquire the attitude information of the component to be positioned based on the spatial positions of at least three sites; wherein, at least three of the sites are not on the same straight line.

[0029] In one embodiment, the spatial position measurement component is configured to measure the spatial positions of at least three sites on the component to be positioned, including:

[0030] The spatial position measurement component is configured to measure the relative position information of each of at least the three sites on the component to be positioned; wherein, the relative position information includes relative distance and relative angle; and the spatial position of each site is determined based on the relative position information of each of at least the three sites.

[0031] In one embodiment, the spatial position measurement component includes at least one of an infrared-based spatial position measurement component, a laser-based spatial position measurement component, an ultrasonic-based spatial position measurement component, a millimeter radar wave-based spatial position measurement component, and a UWB-based spatial position measurement component.

[0032] In one embodiment, the attitude sensor is configured to acquire at least one of the heading angle, pitch angle, and roll angle of the component to be positioned.

[0033] According to a third aspect, an embodiment provides a positioning device, including: a first component, a free-form second component, a first attitude acquisition component, a second attitude acquisition component, and an output component;

[0034] The first component and the second component can be paired to implement a preset function;

[0035] The first attitude acquisition component is disposed on the second component and is used to measure the attitude information of the second component. The first attitude acquisition component includes an attitude sensor;

[0036] The second attitude acquisition component is used to acquire the attitude information of the second component in a manner different from that of the first attitude acquisition component;

[0037] The output component is used to determine the attitude information of the second component for output based on the attitude information measured by the first attitude acquisition component and the attitude information acquired by the second attitude acquisition component.

[0038] In one embodiment, the second attitude acquisition component includes an image acquisition component and a calculation unit. The image acquisition component is used to acquire the image information of the second component, and the calculation unit is used to acquire the attitude information of the second component based on the image information of the second component.

[0039] In one embodiment, the second attitude acquisition component includes a spatial position measurement component and a calculation unit. The spatial position measurement component is used to measure the spatial positions of at least three points on the second component, and the calculation unit is used to acquire the attitude information of the second component based on the spatial positions of at least three points; wherein, at least three of the points are not on the same straight line.

[0040] In one embodiment, the spatial position measurement component is used to measure the spatial positions of at least three points on the second component, including:

[0041] The spatial position measurement component is used to measure the relative position information of each of at least the three points on the second component; wherein, the relative position information includes relative distance and relative angle;

[0042] Determine the spatial position of the second component according to the relative position information of each of at least the three points.

[0043] In one embodiment, the spatial position measurement component includes at least one of an infrared-based spatial position measurement component, a laser-based spatial position measurement component, an ultrasonic-based spatial position measurement component, a millimeter radar wave-based spatial position measurement component, and a UWB-based spatial position measurement component.

[0044] According to a fourth aspect, an embodiment provides a positioning method, including:

[0045] Measure the attitude information of the component to be positioned by a first method, where the first method is to measure the attitude information of the component to be positioned by an attitude sensor disposed on the component to be positioned;

[0046] Obtain the attitude information of the component to be located through a second method different from the first method;

[0047] Based on the attitude information measured by the first method and the attitude information obtained by the second method, determine the attitude information of the component to be located for output.

[0048] According to the positioning device of the above embodiment, in addition to measuring the attitude information of the component to be located through an attitude sensor, a base station and at least three tags are also introduced. The at least three tags are arranged on the component to be located in a non-linear manner, so as to calculate the attitude information of the component to be located; The present application provides a new scheme for obtaining the attitude information of the component to be located;

[0049] According to the positioning device and positioning method of the above embodiment, in addition to measuring the attitude information of the component to be located through a first method such as introducing an attitude sensor, a second method different from the first method is also introduced to obtain the attitude information of the component to be located, and based on the attitude information measured by the first method and the attitude information obtained by the second method, determine the attitude information of the component to be located for output, which makes the obtained attitude information more reliable. Description of the Drawings

[0050] Figure 1 It is a schematic structural diagram of a positioning device according to an embodiment;

[0051] Figure 2 It is a schematic structural diagram of a positioning device according to an embodiment;

[0052] Figure 3 It is a schematic structural diagram of a positioning device according to an embodiment;

[0053] Figure 4 It is a schematic structural diagram of a base station according to an embodiment;

[0054] Figure 5 It is a schematic structural diagram of a positioning device according to an embodiment;

[0055] Figure 6 It is a schematic structural diagram of a positioning device according to an embodiment;

[0056] Figure 7 It is a schematic structural diagram of a positioning device according to an embodiment;

[0057] Figure 8 It is a schematic structural diagram of a second attitude acquisition component according to an embodiment;

[0058] Figure 9 It is a schematic structural diagram of a second attitude acquisition component according to an embodiment;

[0059] Figure 10Schematic structural diagram of the second posture acquisition component of an embodiment;

[0060] Figure 11 Schematic structural diagram of a positioning device of an embodiment;

[0061] Figure 12 Schematic flow diagram of a positioning method of an embodiment. Detailed implementation manners

[0062] The present application will be further described in detail below in conjunction with the accompanying drawings through specific implementation manners. Similar elements in different implementation manners are labeled with related similar element numbers. In the following implementation manners, many detailed descriptions are provided to enable a better understanding of the present application. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, or methods. In some cases, some operations related to the present application are not shown or described in the specification to avoid overwhelming the core part of the present application with excessive descriptions. For those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations based on the descriptions in the specification and the general technical knowledge in the art.

[0063] In addition, the features, operations, or characteristics described in the specification can be combined in any appropriate manner to form various implementation manners. At the same time, the steps or actions in the method description can also be reordered or adjusted in an obvious manner by those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for clearly describing a certain embodiment and do not mean a necessary sequence unless it is stated that a certain sequence must be followed.

[0064] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the described objects and do not have any sequential or technical meanings. The "connection" and "coupling" mentioned in the present application, unless otherwise specified, both include direct and indirect connections (couplings).

[0065] Please refer to Figure 1 , in some embodiments, a positioning device 100 is disclosed; the positioning device 100 includes at least one base station 01 and at least three tags 03; the positioning device 100 further includes a processor 90, which will be specifically described below.

[0066] In some embodiments, at least three tags 03 are arranged on the component 10 to be positioned in a non - collinear manner —— Figure 2 This is an example, where 03a, 03b, and 03c in the figure represent three different tags 03; Figure 2The dashed line in medium gray indicates the transceiver signals between base station 01 and three tags 03a, 03b, and 03c.

[0067] In some embodiments, at least one base station 01 is configured to transmit signals to each of at least three tags 03 and receive the signals returned by the tag 03; the processor 90 is configured to calculate the relative position information between each of at least three tags 03 and at least one base station 01 based on the signals transmitted by at least one base station 01 to each of at least three tags 03 and the signals returned by the tag 03; for example, at least one base station 01 transmits a signal to tag 03a and receives the signal returned by the tag 03a, and the processor 90 calculates the relative position information between tag 03a and at least one base station 01 based on the signals transmitted by at least one base station 01 and tag 03a and the signal returned by the tag 03a; similarly, at least one base station 01 transmits a signal to tag 03b and receives the signal returned by the tag 03b, and the processor 90 calculates the relative position information between tag 03b and at least one base station 01 based on the signals transmitted by at least one base station 01 and tag 03b and the signal returned by the tag 03b; similarly, at least one base station 01 transmits a signal to tag 03c and receives the signal returned by the tag 03c, and the processor 90 calculates the relative position information between tag 03c and at least one base station 01 based on the signals transmitted by at least one base station 01 and tag 03c and the signal returned by the tag 03c.

[0068] In some embodiments, the processor 90 calculates the attitude information of the component 10 to be located based on the relative position information between each of at least three tags 03 and at least one base station 01; for example, the processor 90 calculates the attitude information of the component 10 to be located based on the relative position information between tag 03a and at least one base station 01, the relative position information between tag 03b and at least one base station 01, and the relative position information between tag 03c and at least one base station 01.

[0069] In some specific embodiments, the processor 90 calculates the spatial position of each tag 03 based on the relative position information between each tag 03 and at least one base station 01; and calculates the spatial plane determined by at least three tags 03 based on the spatial positions of at least three tags 03, and calculates the attitude information of the component 10 to be located based on the determined spatial plane.

[0070] In some embodiments, the processor 90 also calculates the spatial position of the component 10 to be located based on the relative position information between at least one tag 03 and at least one base station 01.

[0071] In some embodiments, the relative position information includes relative distance and relative angle.

[0072] It should be noted that the relative distance between object A and object B refers to the distance between the two points when object A and object B are regarded as two points; the relative angle between object A and object B refers to the angle in space of the line determined by these two points when object A and object B are regarded as two points, such as the angle with the X-axis, Y-axis, and / or Z-axis in the XYZ three-dimensional space coordinate system. In this way, given the relative position information between object A and object B and the spatial position of either object A or object B, the spatial position of the other can be determined. Therefore, it can be understood that the relative position information between base station 01 and tag 03 includes the relative distance and relative angle; specifically, the relative distance between base station 01 and tag 03 refers to the distance between the two points when base station 01 and tag 03 are regarded as two points; the relative angle between base station 01 and tag 03 refers to the angle in space of the line determined by these two points when base station 01 and tag 03 are regarded as two points, such as the angle with the X-axis, Y-axis, and / or Z-axis in the XYZ three-dimensional space coordinate system. In this way, given the relative position information between base station 01 and tag 03 and the spatial position of either base station 01 or tag 03, the spatial position of the other can be determined.

[0073] The spatial position in this article refers to the position of an object in three-dimensional space. The spatial position of an object can be described by means of an established XYZ three-dimensional space coordinate system. It can be understood that the origin of the XYZ three-dimensional space coordinate system can be set at any position based on actual needs, for example, it can be a fixed position in space.

[0074] The attitude information in this article is the attitude of an object in space, such as one or more of its roll angle, pitch angle, and heading angle. The attitude of the component 10 to be located in space can be determined by one or more of the roll angle, pitch angle, and heading angle of the spatial plane determined by at least three tags 03 provided on the component 10 to be located, or the attitude of the component 10 to be located in space can be defined by one or more of the angles with the X-axis, Y-axis, and Z-axis in the XYZ three-dimensional space coordinate system of the spatial plane determined by at least three tags 03 provided on the component 10 to be located.

[0075] Base station 01 and tag 03 can be in a one-to-one or one-to-many relationship.

[0076] For a base station 01, by transmitting a signal from this base station 01 to a tag 03 and receiving the signal returned by this tag 03, the processor 90 can calculate the relative position information between this base station 01 and this tag 03. In this way, given the spatial position of base station 01, the spatial position of tag 03 can be obtained through the above relative position information.

[0077] In some embodiments, the positioning device 100 includes two base stations 01. For the sake of distinction, Figure 3 01a and 01b respectively represent these two base stations 01; Figure 3 The gray dashed lines represent the transceiver signals between the base station 01a and the three tags 03a, 03b, and 03c, and the gray solid lines represent the transceiver signals between the base station 01b and the three tags 03a, 03b, and 03c.

[0078] In some embodiments, the attitude information of the component 10 to be positioned calculated by the base station 01a and the base station 01b respectively can be calibrated with each other.

[0079] The base station 01a is configured to transmit signals to each of at least three tags 03 and receive the signals returned by the tag 03; the processor 90 is configured to calculate the relative position information between each of the at least three tags 03 and the base station 01a based on the signals transmitted by the base station 01a to each of the at least three tags 03 and the signals returned by the tag 03; for example, the base station 01a transmits a signal to the tag 03a and receives the signal returned by the tag 03a, and the processor 90 calculates the relative position information between the tag 03a and the base station 01a based on the signal transmitted by the base station 01a and the tag 03a and the signal returned by the tag 03a; similarly, the base station 01a transmits a signal to the tag 03b and receives the signal returned by the tag 03b, and the processor 90 calculates the relative position information between the tag 03b and the base station 01a based on the signal transmitted by the base station 01a and the tag 03b and the signal returned by the tag 03b; similarly, the base station 01a transmits a signal to the tag 03c and receives the signal returned by the tag 03c, and the processor 90 calculates the relative position information between the tag 03c and the base station 01a based on the signal transmitted by the base station 01a and the tag 03c and the signal returned by the tag 03c; the processor 90 calculates the attitude information of the component 10 to be positioned based on the relative position information between each of the at least three tags 03 and the base station 01a; for example, the processor 90 calculates the attitude information of the component 10 to be positioned based on the relative position information between the tag 03a and the base station 01a, the relative position information between the tag 03b and the base station 01a, and the relative position information between the tag 03c and the base station 01a.

[0080] Similarly, base station 01b is used to transmit signals to each of at least three tags 03 and receive the signals returned by the tag 03; the processor 90 is used to calculate the relative position information between each of at least three tags 03 and the base station 01b based on the signals transmitted by the base station 01b to each of at least three tags 03 and the signals returned by the tag 03; for example, the base station 01b transmits a signal to tag 03a and receives the signal returned by the tag 03a, and the processor 90 calculates the relative position information between the tag 03a and the base station 01b based on the signals transmitted by the base station 01b and the tag 03a and the signal returned by the tag 03a; similarly, the base station 01b transmits a signal to tag 03b and receives the signal returned by the tag 03b, and the processor 90 calculates the relative position information between the tag 03b and the base station 01b based on the signals transmitted by the base station 01b and the tag 03b and the signal returned by the tag 03b; similarly, the base station 01b transmits a signal to tag 03c and receives the signal returned by the tag 03c, and the processor 90 calculates the relative position information between the tag 03c and the base station 01b based on the signals transmitted by the base station 01b and the tag 03c and the signal returned by the tag 03c; the processor 90 calculates the attitude information of the component 10 to be located based on the relative position information between each of at least three tags 03 and the base station 01b; for example, the processor 90 calculates the attitude information of the component 10 to be located based on the relative position information between the tag 03a and the base station 01b, the relative position information between the tag 03b and the base station 01b, and the relative position information between the tag 03c and the base station 01b.

[0081] In this way, based on the attitude information of the component 10 to be located that can be calculated separately by the base station 01a and the base station 01b, the processor 90 obtains the attitude information for output based on the attitude information calculated by the base station 01a and the attitude information calculated by the base station 01b - for example, by calibrating one with the other.

[0082] The following combines Figure 4 to make some explanations about the base station 01.

[0083] In some embodiments, the base station 01 includes one or more antennas 01d, for example, the base station 01 includes three antennas 01d.

[0084] In some embodiments, the base station 01 transmits signals to the tag 03 through its antenna 01d and receives the signals returned by the tag 03, and the processor 90 can complete the positioning of the tag 03 based on the signal arrival phase difference PDOA (Phase Difference of Arrival) algorithm, and obtain the relative position information between the base station 01 and the tag 03 through one base station 01.

[0085] In some embodiments, the base station 01 has three antennas 01d for transmitting and receiving signals, such as a first antenna 01, a second antenna 01d, and a third antenna 01d.

[0086] In some embodiments, the processor 90 calculates a first relative distance between the first antenna 01d and the tag 03 based on the signals transmitted and received by the first antenna 01d - this can be obtained based on the time of flight of the signal. In some embodiments, the processor 90 calculates a first signal phase difference based on the signals transmitted and received by the first antenna 01d and the signals transmitted and received by the second antenna 01d, where the first signal phase difference is the phase difference between the signal received by the first antenna 01d and the signal received by the second antenna 01d. In some embodiments, the processor 90 calculates a second signal phase difference based on the signals transmitted and received by the first antenna 01d and the signals transmitted and received by the third antenna 01d, where the second signal phase difference is the phase difference between the signal received by the first antenna 01d and the signal received by the third antenna 01d. In some embodiments, the processor 90 calculates relative position information between the base station 01 and the tag 03 based at least on the first relative distance, the first signal phase difference, and the second signal phase difference. For example, the processor 90 calculates a first azimuth angle of the tag 03 based on the first signal phase difference and the distance between two antennas 01d (referring to the first antenna 01d and the second antenna 01d), and the processor 90 calculates a second azimuth angle of the tag 03 based on the second signal phase difference and the distance between two antennas 01d (referring to the first antenna 01d and the third antenna 01d); the first azimuth angle and the second azimuth angle belong to the relative angles between the base station 01 and the tag 03, and the first relative distance can be used as the relative distance between the base station 01 and the tag 03.

[0087] In some embodiments, the first azimuth angle is the angle between the line connecting the base station 01 and the tag 03 and the XOY plane. In some embodiments, the second azimuth angle is the horizontal azimuth angle of the line connecting the base station 01 and the tag 03, that is, the angle between the projection of this line on the XOY plane and the Y axis.

[0088] In some embodiments, the three antennas 01d for transmitting and receiving signals of the base station 01 are arranged at three positions of the base station 01, and these three positions are not on a straight line; in some embodiments, these three positions are arranged at the three vertices of a right triangle.

[0089] In some embodiments, the above-mentioned first antenna 01d may be located at the vertex where the right angle of the right triangle is located.

[0090] Figure 4 As an example, the base station 01 includes a base station body 01f and three antennas 01d arranged on the same surface of the base station body 01f.

[0091] In some embodiments, the base station 01 is a base station of the UWB (Ultra Wide Band) type, and the tag 03 is a tag of the UWB (Ultra Wide Band) type.

[0092] Ultra-wideband technology is a wireless personal area network communication technology with low power consumption and high-speed transmission. It is suitable for wireless communication applications that require high-quality services and can be used in fields such as wireless personal area networks (WPANs), home network connections, and short-range radars. Instead of using continuous sine waves, it uses pulse signals to transmit. Ultra-wideband refers to ultra-wideband pulses, which are pulses with pulse widths in the nanosecond to picosecond range. Different from the continuous carrier mode commonly used in communication, UWB uses extremely short pulse signals to transmit data. The bandwidth occupied by these pulses can even reach several GHz, so the maximum data transmission rate can reach several hundred Mbps. Because extremely short pulses are used, while enabling high-speed communication, the transmit power of UWB devices is very small, only one-hundredth to one-thousandth of the current continuous carrier system. Therefore, ultra-wideband has the characteristics of high spatial resolution, strong anti-interference ability, fast transmission speed, low cost, and low power consumption. By using a base station of the ultra-wideband type and a tag of the ultra-wideband type for short-distance communication, the relative position information of these two can be accurately obtained, thereby obtaining the spatial position and attitude information of the component 10 to be located, such as.

[0093] Please refer to Figure 5 , in some embodiments, the positioning device further includes an attitude sensor 05. The attitude sensor 05 is disposed on the component 10 to be located and is used to measure the attitude information of the component 10 to be located.

[0094] In some embodiments, the attitude sensor 05 may include motion sensors such as a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass. In some embodiments, the attitude sensor 05 may be a three-dimensional motion attitude measurement component based on MEMS technology (Micro-Electro-Mechanical System).

[0095] In some embodiments, the attitude sensor 05 obtains temperature-compensated three-dimensional attitude and azimuth data through an embedded ARM processor.

[0096] In some embodiments, the attitude sensor 05 uses a three-dimensional algorithm based on quaternions and data fusion technology to real-time output zero-drift three-dimensional attitude azimuth data represented by quaternions and Euler angles, and can also output nine-axis data of a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetic field.

[0097] Therefore, in some embodiments, attitude information of the component 10 to be located, such as roll angle, pitch angle, and heading angle, can be obtained through the nine-axis attitude sensor 05.

[0098] In some embodiments, the processor 90 obtains the attitude information of the component 10 to be located for output based on the calculated attitude information and the attitude information measured by the attitude sensor 05; that is, the processor 90 calculates the attitude information of the component 10 to be located (referred to as the calculated attitude information) based on the relative position information of each of at least three tags 03 with at least one base station 01, and the processor 90 obtains the attitude information of the component 10 to be located through the attitude sensor 05 (referred to as the measured attitude information). The processor 90 obtains the attitude information for output based on the calculated attitude information and the measured attitude information, and this attitude information for output serves as the final attitude information of the component 10 to be located.

[0099] For example, the processor 90 can calibrate the calculated attitude information based on the attitude information measured by the attitude sensor 05, and the processor 90 uses the calibrated attitude information as the attitude information of the component 10 to be located for output.

[0100] For another example, the processor 90 can calibrate the attitude information measured by the attitude sensor 05 based on the calculated attitude information; the processor 90 uses the calibrated attitude information as the attitude information of the component 10 to be located for output. It can be seen that the attitude information obtained through the attitude sensor 05 improves the positioning accuracy of the planar positioning system determined by the processor 90.

[0101] For another example, the processor 90 can perform weighted averaging on the calculated attitude information and the attitude information measured by the attitude sensor 05, and use the result of the weighted averaging as the attitude information of the component 10 to be located for output.

[0102] For another example, the processor 90 selects one of the calculated attitude information and the attitude information measured by the attitude sensor 05 based on a certain strategy as the attitude information of the component 10 to be located for output. For example, the processor 90 obtains the environmental parameters of the component 10 to be located. When the environmental parameters indicate that the attitude information measured by the attitude sensor 05 is unreliable, the calculated attitude information is selected as the attitude information of the component 10 to be located for output. The environmental parameters are parameters that affect the operation of the attitude sensor 05, such as temperature and humidity.

[0103] It can be seen that the attitude information obtained through the attitude sensor 05 further improves the positioning accuracy of the planar positioning system determined by the processor 90.

[0104] Please refer to Figure 6, in some embodiments, a positioning device 100 is disclosed. The positioning device 100 includes a first attitude acquisition component 40, a second attitude acquisition component 50, and an output component 91, which will be specifically described below.

[0105] In some embodiments, the first attitude acquisition component 40 is disposed on the component 10 to be positioned. The first attitude acquisition component 40 is used to measure the attitude information of the component 10 to be positioned.

[0106] Please refer to Figure 7 , in some embodiments, the first attitude acquisition component 40 includes an attitude sensor 05.

[0107] In some embodiments, the attitude sensor 05 is used to acquire at least one of the roll angle, pitch angle, and heading angle of the component 10 to be positioned.

[0108] In some embodiments, the attitude sensor 05 may include motion sensors such as a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass.

[0109] In some embodiments, the attitude sensor 05 may be a three-dimensional motion attitude measurement component based on MEMS technology (Micro-Electro-Mechanical System).

[0110] In some embodiments, the attitude sensor 05 obtains temperature-compensated three-dimensional attitude and azimuth data through an embedded ARM processor.

[0111] In some embodiments, the attitude sensor 05 uses a three-dimensional algorithm based on quaternions and data fusion technology to real-time output zero-drift three-dimensional attitude azimuth data represented by quaternions and Euler angles, and can also output nine-axis data of a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetic field.

[0112] Therefore, in some embodiments, the attitude information of the component 10 to be positioned, such as the roll angle, pitch angle, and heading angle, can be obtained through the nine-axis attitude sensor 05.

[0113] It can be seen that the first attitude acquisition component 40 obtains the attitude information of the component 10 to be positioned through the attitude sensor 05.

[0114] In some embodiments, the second attitude acquisition component 50 is used to obtain the attitude information of the component 10 to be positioned in a manner different from that of the first attitude acquisition component 40.

[0115] In some embodiments, the second attitude acquisition component 50 obtains the attitude information of the component 10 to be positioned through a visual method.

[0116] Please refer to Figure 8, in some embodiments, the second attitude acquisition component 50 includes an image acquisition component 51 and a calculation unit 53. The image acquisition component 51 is configured to acquire image information of the component 10 to be positioned, and the calculation unit 53 is configured to obtain the attitude information of the component 10 to be positioned based on the image information of the component 10 to be positioned.

[0117] In some embodiments, the image acquisition component 51 may include a camera.

[0118] In some embodiments, the calculation unit 53 obtains the attitude information of the component 10 to be positioned based on the image information of the component 10 to be positioned in a machine learning manner.

[0119] For example, the calculation unit 53 inputs the image information of the component 10 to be positioned into an attitude recognition model to obtain the attitude information of the component 10 to be positioned.

[0120] In some embodiments, the attitude recognition model takes the image information of the component 10 to be positioned as input data, and outputs the attitude information of the component 10 to be positioned after processing.

[0121] In some embodiments, the attitude recognition model is obtained by training with a training set. The data of the training set includes first data and second data. The label of the first data is the second data. The first data set is the image information of the component 10 to be positioned, and the second data set is the attitude information corresponding to the image information of the component 10 to be positioned.

[0122] In some embodiments, during the process of training the attitude recognition model based on the first data and the second data, the first data is input into the attitude recognition model. Through iteration, the output data of the attitude recognition model is continuously approximated to the second data. For example, the error between the output data of the estimated attitude recognition model and the second data is estimated, and the parameters of the attitude recognition model are updated according to the error. The above steps are continuously repeated to repeatedly update the parameters of the attitude recognition model until the error between the output data of the attitude recognition model and the second data is within a preset range.

[0123] In some embodiments, the attitude recognition model includes: a model based on a convolutional neural network, a model based on a recurrent neural network, a model based on an adversarial neural network, a model based on an attention neural network, or a model based on a fully connected network.

[0124] Please refer to Figure 9, in some embodiments, the second attitude acquisition component 50 includes a spatial position measurement component 55 and a calculation unit 57. The spatial position measurement component 55 is configured to measure the spatial positions of at least three sites on the component 10 to be positioned, and the calculation unit 57 is configured to obtain the attitude information of the component 10 to be positioned based on the spatial positions of the at least three sites; wherein, the above-mentioned at least three sites are not on the same straight line. For example, the spatial position measurement component 55 is configured to measure the relative position information of each of the at least three sites on the component 10 to be positioned; wherein, the relative position information includes relative distance and relative angle; the spatial position measurement component 55 determines the spatial position of each site according to the relative position information of each of the at least three sites.

[0125] In some embodiments, the spatial position measurement component 55 includes at least one of an infrared-based spatial position measurement component 55, a laser-based spatial position measurement component 55, an ultrasonic-based spatial position measurement component 55, a millimeter radar wave-based spatial position measurement component 55, and a UWB-based spatial position measurement component 55.

[0126] The infrared-based spatial position measurement component 55 can measure the spatial positions of at least three sites on the component 10 to be positioned through infrared signals. For example, the infrared-based spatial position measurement component 55 irradiates infrared signals onto the component 10 to be positioned and calculates the relative distance and relative angle between one or more sites on the component 10 to be positioned and the spatial position measurement component 55 based on the intensity and / or time difference of the received infrared signals, so as to calculate the spatial positions of one or more sites on the component 10 to be positioned.

[0127] The laser-based spatial position measurement component 55 can measure the spatial positions of at least three sites on the component 10 to be positioned through laser signals. For example, the laser-based spatial position measurement component 55 emits a laser signal to a site of the positioning component 10 and receives the reflected laser signal, calculates this distance based on the time difference, and determines the relative angle between this site and the spatial position measurement component 55 based on the angle of the emitted laser signal, so as to calculate the spatial position of this site; similarly, the laser-based spatial position measurement component 55 calculates the spatial positions of at least three sites on the component 10 to be positioned through the above method.

[0128] The ultrasonic-based spatial position measurement component 55 can measure the spatial positions of at least three sites on the component 10 to be positioned through ultrasonic signals. For example, the ultrasonic-based spatial position measurement component 55 irradiates ultrasonic signals onto the component 10 to be positioned and calculates the relative distance and relative angle between one or more sites on the component 10 to be positioned and the spatial position measurement component 55 based on the intensity and / or time difference of the received ultrasonic signals, so as to calculate the spatial positions of one or more sites on the component 10 to be positioned.

[0129] The spatial position measurement component 55 based on millimeter radar waves can measure the spatial positions of at least three sites on the component 10 to be positioned through millimeter radar wave signals. For example, the spatial position measurement component 55 based on millimeter radar waves irradiates ultrasonic signals onto the component 10 to be positioned and calculates the relative distances and relative angles between one or more sites on the component 10 to be positioned and the spatial position measurement component 55 based on the received millimeter radar wave signal intensity and / or time difference, thereby calculating the spatial positions of one or more sites on the component 10 to be positioned.

[0130] Please refer to Figure 10 , the spatial position measurement component 55 based on UWB can measure the spatial positions of at least three sites on the component 10 to be positioned through UWB signals. For example, the spatial position measurement component 55 based on UWB can include at least one base station 01 and at least three tags 03, and the at least three tags 03 are arranged on the component 10 to be positioned in a non-linear manner.

[0131] In some embodiments, at least one base station 01 is used to transmit signals to each of the at least three tags 03 and receive the signals returned by the tag 03; the spatial position measurement component 55 calculates the relative position information between each of the at least three tags 03 and the at least one base station 01 based on the signals transmitted by the at least one base station 01 to each of the at least three tags 03 and the signals returned by the tag 03, and calculates the spatial position of each tag 03 based on the relative position information between each of the at least three tags 03 and the at least one base station 01; in some embodiments, the spatial position measurement component 55 calculates the spatial position of each tag 03 based on the relative position information between each tag 03 and the at least one base station 01; the calculation unit 57 calculates the spatial plane determined by the at least three tags 03 based on the spatial positions of the at least three tags 03, and calculates the attitude information of the component 10 to be positioned based on the determined spatial plane.

[0132] In some embodiments, the output component 91 is used to determine the attitude information of the component 10 to be positioned for output based on the attitude information measured by the first attitude acquisition component 40 and the attitude information acquired by the second attitude acquisition component 50.

[0133] For example, the output component 91 can calibrate the attitude information acquired by the second attitude acquisition component 50 through the attitude information measured by the first attitude acquisition component 40, and use the calibrated attitude information as the attitude information of the component 10 to be positioned for output.

[0134] For another example, the output component 91 can calibrate the attitude information measured by the first attitude acquisition component 40 by obtaining the attitude information acquired by the second attitude acquisition component 50 in the second attitude, and use the calibrated attitude information as the attitude information of the component to be positioned 10 for output.

[0135] For another example, the output component 91 can perform weighted averaging on the attitude information measured by the first attitude acquisition component 40 and the attitude information acquired by the second attitude acquisition component 50, and use the result of the weighted averaging as the attitude information of the component to be positioned 10 for output.

[0136] For another example, the output component 91 selects one of the attitude information measured by the first attitude acquisition component 40 and the attitude information acquired by the second attitude acquisition component 50 based on a certain strategy as the attitude information of the component to be positioned 10 for output. For example, the output component 91 obtains the environmental parameters of the component to be positioned 10. When the environmental parameters indicate that the attitude information measured by the first attitude acquisition component 40 is unreliable, the attitude information acquired by the second attitude acquisition component 50 is selected as the attitude information of the component to be positioned 10 for output. The environmental parameters are parameters that affect the operation of the first attitude acquisition component 40, such as temperature and humidity.

[0137] It should be noted that the output component 91 in this article can be a component with data calculation functions.

[0138] Please refer to Figure 11 , in some embodiments, a positioning device 100 is disclosed. The positioning device 100 includes a first component 20, a second component 30, a first attitude acquisition component 40, a second attitude acquisition component 50, and an output component 91, which will be specifically described below.

[0139] In some embodiments, the first component 20 and the second component 30 can be paired to achieve a preset function. For example, the first component 20 is a radiation source capable of emitting X-rays, and the second component 30 is a detector capable of receiving X-rays for imaging.

[0140] In some embodiments, the second component 30 is in a free state.

[0141] Taking the second component 30 as a detector as an example, a free detector can meet the imaging requirements for different body positions. The free detector can be used independently of the cassette assembly. For example, when the subject is sitting in a wheelchair, the technician can place the free detector on the backrest or under the wheelchair for free-position radiography; for another example, for a subject lying on a stretcher, the technician can place the free detector under the subject for free-position radiography. Therefore, by introducing a free detector, the free detector can be placed without being limited to a specific position, so that radiographic imaging operations can be performed in various different body positions such as the axial position of the patella, the lateral position of the foot, the anteroposterior position of the foot, the oblique position of the foot, the lateral position of the hip joint, the anteroposterior position of the chest, the lateral position of the elbow joint, the anteroposterior position of the elbow joint, the anteroposterior position of the abdomen, the anterolateral position of the upper limb, the anteroposterior position of the cervical vertebra, the lateral position of the cervical vertebra, the lateral position of the knee joint, the tibial calcaneal position, the lateral position of the ankle joint, the lateral position of the spine, and the anteroposterior position of the lower limb, effectively expanding the application scenarios of radiographic imaging.

[0142] Therefore, it is of great significance to position the free second component 30.

[0143] In some embodiments, the first attitude acquisition component 40 is disposed on the second component 30. The first attitude acquisition component 40 is configured to measure the attitude information of the second component 30.

[0144] In some embodiments, the first attitude acquisition component 40 includes an attitude sensor 05.

[0145] In some embodiments, the attitude sensor 05 is configured to acquire at least one of the roll angle, pitch angle, and heading angle of the second component 30.

[0146] In some embodiments, the attitude sensor 05 may include motion sensors such as a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass.

[0147] In some embodiments, the attitude sensor 05 may be a three-dimensional motion attitude measurement component based on MEMS technology (Micro-Electro-Mechanical System).

[0148] In some embodiments, the attitude sensor 05 obtains temperature-compensated three-dimensional attitude and azimuth data through an embedded ARM processor.

[0149] In some embodiments, the attitude sensor 05 uses a three-dimensional algorithm based on quaternions and data fusion technology to real-time output zero-drift three-dimensional attitude and azimuth data represented by quaternions and Euler angles, and can also output nine-axis data of a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetic field.

[0150] Therefore, in some embodiments, the attitude information of the second component 30, such as the roll angle, pitch angle, and heading angle, can be obtained through the nine-axis attitude sensor 05.

[0151] It can be seen that the first posture acquisition component 40 acquires the posture information of the second component 3010 through the posture sensor 05.

[0152] In some embodiments, the second posture acquisition component 50 is configured to acquire the posture information of the second component 30 in a manner different from that of the first posture acquisition component 40.

[0153] In some embodiments, the second posture acquisition component 50 acquires the posture information of the second component 30 through a visual method.

[0154] In some embodiments, the second posture acquisition component 50 includes an image acquisition component 51 and a calculation unit 53 - the above Figure 8 is an example. The image acquisition component 51 is configured to acquire the image information of the second component 30, and the calculation unit 53 is configured to acquire the posture information of the second component 30 based on the image information of the second component 30.

[0155] In some embodiments, the image acquisition component 51 may include a camera.

[0156] In some embodiments, the calculation unit 53 acquires the posture information of the positioning component 10 based on the machine learning method through the image information of the second component 30.

[0157] For example, the calculation unit 53 inputs the image information of the second component 30 into the posture recognition model to obtain the posture information of the second component 30.

[0158] In some embodiments, the posture recognition model takes the image information of the second component 30 as input data, and outputs the posture information of the second component 30 after being processed.

[0159] In some embodiments, the posture recognition model is obtained by training with a training set. The data of the training set includes first data and second data. The label of the first data is the second data. The first data set is the image information of the second component 30, and the second data set is the posture information corresponding to the image information of the second component 30.

[0160] In some embodiments, during the process of training the posture recognition model based on the first data and the second data, the first data is input into the posture recognition model. Through iteration, the output data of the posture recognition model is continuously approximated to the second data. For example, the error between the output data of the estimated posture recognition model and the second data is estimated, and the parameters of the posture recognition model are updated according to the error. The above steps are continuously repeated to repeatedly update the parameters of the posture recognition model until the error between the output data of the posture recognition model and the second data is within a preset range.

[0161] In some embodiments, the pose recognition model includes: a model based on a convolutional neural network, a model based on a recurrent neural network, a model based on an adversarial neural network, a model based on an attention neural network, or a model based on a fully connected network.

[0162] In some embodiments, the second pose acquisition component 50 includes a spatial position measurement component 55 and a calculation unit 57 - the above Figure 9 is an example. The spatial position measurement component 55 is used to measure the spatial positions of at least three points on the second component 30, and the calculation unit 57 is used to obtain the pose information of the second component 30 based on the spatial positions of at least three points; wherein, the above at least three points are not on the same straight line. For example, the spatial position measurement component 55 is used to measure the relative position information of each of at least three points on the second component 30; wherein, the relative position information includes relative distance and relative angle; the spatial position measurement component 55 determines the spatial position of each point according to the relative position information of each of at least three points.

[0163] In some embodiments, the spatial position measurement component 55 includes at least one of an infrared-based spatial position measurement component 55, a laser-based spatial position measurement component 55, an ultrasonic-based spatial position measurement component 55, a millimeter radar wave-based spatial position measurement component 55, and a UWB-based spatial position measurement component 55.

[0164] The infrared-based spatial position measurement component 55 can measure the spatial positions of at least three points on the second component 30 through infrared signals. For example, the infrared-based spatial position measurement component 55 irradiates infrared signals onto the second component 30 and calculates the relative distance and relative angle between one or more points on the second component 30 and the spatial position measurement component 55 based on the received infrared signal intensity and / or time difference, so as to calculate the spatial positions of one or more points on the second component 30.

[0165] The laser-based spatial position measurement component 55 can measure the spatial positions of at least three points on the component to be located 10 through laser signals. For example, the laser-based spatial position measurement component 55 emits a laser signal to a point on the positioning component 10 and receives the reflected laser signal, calculates this distance based on the time difference, and determines the relative angle between this point and the spatial position measurement component 55 based on the angle of the emitted laser signal, so as to calculate the spatial position of this point; similarly, the laser-based spatial position measurement component 55 calculates the spatial positions of at least three points on the component to be located 10 in the above manner.

[0166] The ultrasound-based spatial position measurement component 55 can measure the spatial positions of at least three sites on the second component 30 through ultrasound signals. For example, the ultrasound-based spatial position measurement component 55 irradiates ultrasound signals onto the second component 30 and calculates the relative distances and relative angles between one or more sites on the second component 30 and the spatial position measurement component 55 based on the intensity and / or time difference of the received ultrasound signals, thereby calculating the spatial positions of one or more sites on the second component 30.

[0167] The millimeter-wave radar-based spatial position measurement component 55 can measure the spatial positions of at least three sites on the second component 30 through millimeter-wave radar signals. For example, the millimeter-wave radar-based spatial position measurement component 55 irradiates ultrasound signals onto the second component 30 and calculates the relative distances and relative angles between one or more sites on the second component 30 and the spatial position measurement component 55 based on the intensity and / or time difference of the received millimeter-wave radar signals, thereby calculating the spatial positions of one or more sites on the second component 30.

[0168] The UWB-based spatial position measurement component 55 can measure the spatial positions of at least three sites on the second component 30 through UWB signals. For example, the UWB-based spatial position measurement component 55 can include at least one base station 01 and at least three tags 03, and the at least three tags 03 are arranged on the second component 30 in a non-linear manner - as described above Figure 10 is an example.

[0169] In some embodiments, at least one base station 01 is used to transmit signals to each of the at least three tags 03 and receive the signals returned by the tag 03; the spatial position measurement component 55 calculates the relative position information between each of the at least three tags 03 and the at least one base station 01 based on the signals transmitted by the at least one base station 01 to each of the at least three tags 03 and the signals returned by the tag 03, and calculates the spatial position of each tag 03 based on the relative position information between each of the at least three tags 03 and the at least one base station 01; in some embodiments, the spatial position measurement component 55 calculates the spatial position of each tag 03 based on the relative position information between each tag 03 and the at least one base station 01; the calculation unit 57 calculates the spatial plane determined by the at least three tags 03 based on the spatial positions of the at least three tags 03, and calculates the attitude information of the second component 30 based on the determined spatial plane.

[0170] In some embodiments, the output component 91 is used to determine the attitude information of the second component 30 for output based on the attitude information measured by the first attitude acquisition component 40 and the attitude information acquired by the second attitude acquisition component 50.

[0171] For example, the output component 91 can calibrate the attitude information obtained by the second attitude acquisition component 50 by acquiring the attitude information measured by the first attitude acquisition component 40, and use the calibrated attitude information as the attitude information of the second component 30 for output.

[0172] For another example, the output component 91 can calibrate the attitude information measured by the first attitude acquisition component 40 by acquiring the attitude information obtained by the second attitude acquisition component 50, and use the calibrated attitude information as the attitude information of the second component 30 for output.

[0173] For another example, the output component 91 can perform weighted averaging on the attitude information measured by the first attitude acquisition component 40 and the attitude information obtained by the second attitude acquisition component 50, and use the result of the weighted averaging as the attitude information of the second component 30 for output.

[0174] For another example, the output component 91 selects one of the attitude information measured by the first attitude acquisition component 40 and the attitude information obtained by the second attitude acquisition component 50 based on a certain strategy as the attitude information of the second component 30 for output. For example, the output component 91 acquires the environmental parameters of the second component 30. When the environmental parameters indicate that the attitude information measured by the first attitude acquisition component 40 is unreliable, the attitude information obtained by the second attitude acquisition component 50 is selected as the attitude information of the second component 30 for output. The environmental parameters are parameters that affect the operation of the first attitude acquisition component 40, such as temperature and humidity.

[0175] It should be noted that the output component 91 in this article can be a component with data calculation functions.

[0176] Some embodiments also disclose a positioning method.

[0177] Please refer to Figure 12 , the positioning method of some embodiments includes the following steps:

[0178] Step 110: Measure the attitude information of the component 10 to be positioned by the first method. The first method is to measure the attitude information of the component to be positioned by the attitude sensor 05 provided on the component 10 to be positioned.

[0179] For the attitude sensor 05, please refer to the above description and will not be elaborated here.

[0180] Step 130: Acquire the attitude information of the component 10 to be positioned by a second method different from the first method.

[0181] For example, step 130 obtains the pose information of the component 10 to be positioned visually. Step 130 acquires the image information of the component 10 to be positioned and obtains the pose information of the component 10 to be positioned based on the image information of the component 10 to be positioned.

[0182] In some embodiments, step 130 obtains the pose information of the component 10 to be positioned based on the image information of the component 10 to be positioned in a machine learning manner.

[0183] For example, step 130 inputs the image information of the component 10 to be positioned into a pose recognition model to obtain the pose information of the component 10 to be positioned.

[0184] In some embodiments, the pose recognition model takes the image information of the component 10 to be positioned as input data and outputs the pose information of the component 10 to be positioned after processing.

[0185] The pose recognition model can refer to the above description and will not be elaborated here.

[0186] In some embodiments, step 130 measures the spatial positions of at least three points on the component 10 to be positioned and obtains the pose information of the component 10 to be positioned based on the spatial positions of the at least three points; wherein, the above-mentioned at least three points are not on the same straight line. For example, step 130 is used to measure the relative position information of each of the at least three points on the component 10 to be positioned; wherein, the relative position information includes relative distance and relative angle; step 130 determines the spatial position of each point according to the relative position information of each of the at least three points.

[0187] Step 130 can obtain the spatial positions of at least three points on the component 10 to be positioned through infrared positioning, laser positioning, ultrasonic positioning, millimeter radar wave positioning or UWB positioning.

[0188] Step 150: Determine the pose information of the component 10 to be positioned for output based on the pose information measured by the first method and the pose information obtained by the second method.

[0189] For example, step 150 can calibrate the pose information obtained by the second method with the pose information obtained by the first method and use the calibrated pose information as the pose information of the component 10 to be positioned for output.

[0190] For another example, step 150 can calibrate the pose information obtained by the first method with the pose information obtained by the second method and use the calibrated pose information as the pose information of the component 10 to be positioned for output.

[0191] For another example, step 150 may perform weighted averaging on the attitude information obtained by the first method and the attitude information obtained by the second method, and use the result of the weighted averaging as the attitude information of the component 10 to be located for output.

[0192] For another example, step 150 selects one of the attitude information obtained by the first method and the attitude information obtained by the second method based on a certain strategy as the attitude information of the component 10 to be located for output. For example, step 150 obtains the environmental parameters of the component 10 to be located. When the environmental parameters indicate that the attitude information measured by the attitude sensor 05 is unreliable, the attitude information obtained by the second method is selected as the attitude information of the component 10 to be located for output. The environmental parameters are parameters that affect the operation of the attitude sensor 05, such as temperature and humidity.

[0193] This document is described with reference to various exemplary embodiments. However, those skilled in the art will recognize that changes and modifications can be made to the exemplary embodiments without departing from the scope of this document. For example, various operation steps and the components for performing the operation steps can be implemented in different ways according to a specific application or considering any number of cost functions associated with the operation of the system (e.g., one or more steps can be deleted, modified, or incorporated into other steps).

[0194] In the above embodiments, they can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. Additionally, as understood by those skilled in the art, the principles herein can be reflected in a computer program product on a computer-readable storage medium that is preloaded with computer-readable program code. Any tangible, non-transitory computer-readable storage medium can be used, including magnetic storage devices (hard disks, floppy disks, etc.), optical storage devices (CD-ROMs, DVDs, Blu-ray discs, etc.), flash memories, and / or the like. These computer program instructions can be loaded onto a general-purpose computer, a special-purpose computer, or other programmable data processing devices to form a machine, such that the instructions executed on the computer or other programmable data processing devices can generate a device for implementing the specified functions. These computer program instructions can also be stored in a computer-readable memory, which can direct the computer or other programmable data processing devices to operate in a specific manner, so that the instructions stored in the computer-readable memory can form a manufactured article, including a device for implementing the specified functions. The computer program instructions can also be loaded onto a computer or other programmable data processing devices, thereby performing a series of operation steps on the computer or other programmable devices to generate a computer-implemented process, such that the instructions executed on the computer or other programmable devices can provide steps for implementing the specified functions.

[0195] Although the principles herein have been shown in various embodiments, many modifications of structure, arrangement, proportions, elements, materials, and components, which are particularly adapted to specific environments and operational requirements, may be used without departing from the principles and scope of this disclosure. The above modifications and other variations or revisions will be included within the scope herein.

[0196] The foregoing detailed description has been described with reference to various embodiments. However, those skilled in the art will recognize that various modifications and changes can be made without departing from the scope of this disclosure. Accordingly, the contemplation of this disclosure is meant in an illustrative rather than a limiting sense, and all such modifications will be included within its scope. Also, the advantages, other advantages, and solutions to problems of the various embodiments have been described above. However, benefits, advantages, solutions to problems, and any elements that may produce these, or any element that makes them more explicit, should not be construed as critical, required, or essential. As used herein, the term "comprising" and any other variant thereof are intended to be non-exclusive inclusions such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed or inherent to such process, method, system, article, or apparatus. Further, as used herein, the term "coupled" and any other variant thereof refers to physical connection, electrical connection, magnetic connection, optical connection, communication connection, functional connection, and / or any other connection.

[0197] Those having skill in the art will recognize that many changes may be made to the details of the above-described embodiments without departing from the basic principles of this application. Accordingly, the scope of this application should be determined solely by the claims.

Claims

1. A positioning device, characterized in that, Comprising: At least one base station, at least three tags, an attitude sensor, and a processor; At least three of the tags are arranged on the component to be located in a non-linear manner; At least one of the base stations is configured to transmit a signal to each of at least three of the tags and receive the signal returned by the tag; The attitude sensor is arranged on the component to be located and is configured to measure the attitude information of the component to be located; The processor is configured to: Based on the signal transmitted by at least one of the base stations to each of at least three of the tags and the signal returned by the tag, calculate the relative position information between each of at least three of the tags and at least one of the base stations; Based on the relative position information between each of at least three of the tags and at least one of the base stations, calculate the attitude information of the component to be located; 2. The positioning device according to claim 1, characterized in that, Based on the calculated attitude information and the attitude information measured by the attitude sensor, obtain the attitude information of the component to be located for output.

3. The positioning device according to claim 1 or 2, characterized in that, The relative position information includes a relative distance and a relative angle. When the processor calculates the attitude information of the component to be located based on the relative position information between each of at least three of the tags and at least one of the base stations, it includes: Based on the relative position information between each of the tags and at least one of the base stations, calculate the spatial position of each of the tags; Based on the spatial positions of at least three of the tags, calculate the spatial plane determined by at least three of the tags; 4. The positioning device according to claim 1 or 2, characterized in that, Based on the determined spatial plane, calculate the attitude information of the component to be located.

5. The positioning device according to claim 4, characterized in that, When at least one of the base stations is a single base station, the single base station has at least three antennas for transmitting and receiving signals.

6. The positioning device according to claim 5, wherein, The three antennas are arranged at three positions of the single base station, and the three positions are not in a straight line.

7. The positioning device according to claim 4 or 5, characterized in that, The three positions are arranged at the three vertices of a right triangle.

8. The positioning device according to claim 1, 2 or 4, characterized in that, The three antennas include a first antenna, a second antenna, and a third antenna; the processor calculates a first relative distance between the first antenna and a tag based on the signal transmitted and received by the first antenna, calculates a first signal phase difference based on the signal transmitted and received by the first antenna and the signal transmitted and received by the second antenna, calculates a second signal phase difference based on the signal transmitted and received by the first antenna and the signal transmitted and received by the third antenna, and calculates the relative position information between the single base station and a tag based on the first relative distance, the first signal phase difference, and the second signal phase difference; wherein, the first signal phase difference is the phase difference between the signal received by the first antenna and the signal received by the second antenna, and the second signal phase difference is the phase difference between the signal received by the first antenna and the signal received by the third antenna.

9. The positioning device according to any one of claims 1 to 8, characterized in that, The processor is further configured to: calculate the spatial position of the component to be located based on the relative position information between at least one of the tags and at least one of the base stations.

10. A positioning device, characterized in that, The base station is a UWB type base station, and the tag is a UWB type tag. Comprising: A first attitude acquisition component, a second attitude acquisition component, and an output component; The first attitude acquisition component is arranged on the component to be positioned and is used for measuring the attitude information of the component to be positioned. The first attitude acquisition component includes an attitude sensor; The second attitude acquisition component is used for acquiring the attitude information of the component to be positioned in a manner different from that of the first attitude acquisition component; The output component is used for determining the attitude information of the component to be positioned for output based on the attitude information measured by the first attitude acquisition component and the attitude information acquired by the second attitude acquisition component.

11. The positioning device according to claim 10, characterized in that, The second attitude acquisition component includes an image acquisition component and a calculation unit. The image acquisition component is used for acquiring the image information of the component to be positioned, and the calculation unit is used for acquiring the attitude information of the component to be positioned based on the image information of the component to be positioned.

12. The positioning device according to claim 10, wherein The second attitude acquisition component includes a spatial position measurement component and a calculation unit. The spatial position measurement component is used for measuring the spatial positions of at least three sites on the component to be positioned, and the calculation unit is used for acquiring the attitude information of the component to be positioned based on the spatial positions of at least three sites; wherein, at least three of the sites are not on the same straight line.

13. The positioning device according to claim 12, characterized in that, The spatial position measurement component is used for measuring the spatial positions of at least three sites on the component to be positioned, including: The spatial position measurement component is used for measuring the relative position information of each of at least the three sites on the component to be positioned; wherein, the relative position information includes relative distance and relative angle; the spatial position of each site is determined according to the relative position information of each of at least the three sites.

14. The positioning device according to claim 12 or 13, characterized in that, The spatial position measurement component includes at least one of an infrared-based spatial position measurement component, a laser-based spatial position measurement component, an ultrasonic-based spatial position measurement component, a millimeter radar wave-based spatial position measurement component, and a UWB-based spatial position measurement component.

15. The positioning device according to any one of claims 10 to 14, characterized in that, The attitude sensor is used for acquiring at least one of the heading angle, pitch angle, and roll angle of the component to be positioned.

16. A positioning device, characterized in that, Including: A first component, a free-form second component, a first attitude acquisition component, a second attitude acquisition component, and an output component; The first component and the second component can be paired to achieve a preset function; The first attitude acquisition component is arranged on the second component and is used for measuring the attitude information of the second component. The first attitude acquisition component includes an attitude sensor; The second attitude acquisition component is used for acquiring the attitude information of the second component in a manner different from that of the first attitude acquisition component; The output component is used for determining the attitude information of the second component for output based on the attitude information measured by the first attitude acquisition component and the attitude information acquired by the second attitude acquisition component.

17. The positioning device according to claim 16, characterized in that, The second attitude acquisition component includes an image acquisition component and a calculation unit. The image acquisition component is used for acquiring the image information of the second component, and the calculation unit is used for acquiring the attitude information of the second component based on the image information of the second component.

18. The positioning device according to claim 16, wherein, The second attitude acquisition component includes a spatial position measurement component and a calculation unit. The spatial position measurement component is configured to measure the spatial positions of at least three points on the second component, and the calculation unit is configured to obtain the attitude information of the second component based on the spatial positions of at least three points; wherein, at least three of the points are not collinear.

19. The positioning device according to claim 18, wherein, The spatial position measurement component is configured to measure the spatial positions of at least three points on the second component, including: The spatial position measurement component is configured to measure the relative position information of each of at least the three points on the second component; wherein, the relative position information includes relative distance and relative angle; Determine the spatial position of the second component according to the relative position information of each of at least the three points.

20. The positioning device according to claim 18 or 19, characterized in that, The spatial position measurement component includes at least one of an infrared-based spatial position measurement component, a laser-based spatial position measurement component, an ultrasonic-based spatial position measurement component, a millimeter radar wave-based spatial position measurement component, and a UWB-based spatial position measurement component.

21. A positioning method, characterized in that, Including: Measure the attitude information of the component to be positioned through a first method, and the first method is to measure the attitude information of the component to be positioned through an attitude sensor provided on the component to be positioned; Obtain the attitude information of the component to be positioned through a second method different from the first method; Based on the attitude information measured by the first method and the attitude information obtained by the second method, determine the attitude information of the component to be positioned for output.

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