Identification position updating method and device, electronic equipment and storage medium
By obtaining and updating the position of the target mark in a movable device, combining the actual position and predicted position, the positioning abnormality caused by the change of the preset mark position is solved, and the reliability and positioning accuracy of the electronic map are improved.
Patent Information
- Application Number
- CN202410178056.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-08
- Publication Date
- 2025-08-12
AI Technical Summary
During the positioning process of the movable device, the positioning abnormality occurs because the actual position change of the preset identifier is inconsistent with the preset position on the electronic map.
By acquiring multiple preset identifiers in the current scene, determining the target identifier and obtaining its preset location on the electronic map, combining the moving trajectory of the movable device, determining the target local trajectory, and updating the position of the target identifier using the actual position and the predicted position.
It improves the reliability and positioning accuracy of electronic maps, solves the problem of positioning abnormalities, and enhances the efficiency and accuracy of position updates.
Smart Images
Figure CN120470070A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of data processing technology, and in particular to an identification location updating method, device, electronic device, and storage medium. Background Art
[0002] In related technologies, mobile devices are positioned using preset markers within the current scene. However, during the actual positioning process, if the actual position of the preset marker changes, it will deviate from the preset position on the electronic map of the current scene, which can easily lead to positioning anomalies of the mobile device. Summary of the Invention
[0003] In view of this, the present disclosure provides a method, device, electronic device and storage medium for updating an identification location, so as to solve the problem of abnormal positioning of a movable device.
[0004] In a first aspect, the present disclosure provides a method for updating an identification location, the method comprising:
[0005] Get multiple preset identifiers in the current scene;
[0006] Based on the positioning results of the mobile device using the multiple preset identifiers, determining a target identifier among the multiple preset identifiers for which a position update is to be performed on the electronic map of the current scene, and obtaining the preset position of the target identifier on the electronic map;
[0007] Determine a target local trajectory based on the movement trajectory of the mobile device in the current scene. The target local trajectory corresponds to multiple consecutive identifiers. Among the multiple consecutive identifiers, the first identifier and the last identifier are valid identifiers that do not require position update, and the target identifier is between the first identifier and the last identifier.
[0008] Based on the actual position and predicted position of the mobile device positioned by a plurality of consecutive identifiers, the preset position is updated to obtain the updated target position of the target identifier on the electronic map.
[0009] In a second aspect, the present disclosure provides an apparatus for updating an identification location, the apparatus comprising:
[0010] The acquisition module is used to obtain multiple preset identifiers in the current scene;
[0011] a detection module configured to determine, based on a positioning result of the mobile device using the plurality of preset identifiers, a target identifier to be updated on the electronic map of the current scene from among the plurality of preset identifiers, and obtain the preset position of the target identifier on the electronic map;
[0012] a processing module, configured to determine a target local trajectory based on the movement trajectory of the movable device in the current scene, wherein the target local trajectory corresponds to a plurality of consecutive identifiers, wherein a first identifier and a last identifier of the plurality of consecutive identifiers are valid identifiers that do not require position updating, and the target identifier is located between the first identifier and the last identifier;
[0013] The updating module is used to update the preset position based on the actual position and predicted position of the mobile device through multiple consecutive identifications, and obtain the updated target position of the target identification on the electronic map.
[0014] In a third aspect, the present disclosure provides an electronic device comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, computer instructions being stored in the memory, and the processor executing the identification location update method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.
[0015] In a fourth aspect, the present disclosure provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the identification location updating method of the first aspect or any corresponding embodiment thereof.
[0016] The present disclosure provides a method for updating an identifier position. Upon detecting a target identifier in a current scene whose actual position is different from a preset position in an electronic map, the method determines a target local trajectory corresponding to the target identifier from the movement trajectory of a movable device in the current scene to improve the efficiency of position updating. The method uses the target local trajectory to narrow the adjustment range of the preset position of the target identifier on the electronic map. The method then performs a targeted update of the position of the target identifier in the electronic map based on the relative positional relationship between the actual movement state of the movable device and the target identifier, thereby making the updated target position more accurate, helping to improve the reliability of the electronic map, and effectively resolving the problem of abnormal positioning of the movable device. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
[0018] Figure 1 is a flowchart of a method for updating an identification location according to an embodiment of the present disclosure;
[0019] Figure 2 is a schematic diagram of a local trajectory of a target according to an embodiment of the present disclosure;
[0020] Figure 3 is a flowchart of another identification location updating method according to an embodiment of the present disclosure;
[0021] Figure 4 is a flowchart of another identification location updating method according to an embodiment of the present disclosure;
[0022] Figure 5 is a schematic diagram of a local trajectory of a target according to an embodiment of the present disclosure;
[0023] Figure 6 is a structural block diagram of an apparatus for updating an identification position according to an embodiment of the present disclosure;
[0024] Figure 7 Schematic diagram of the hardware structure of the electronic device according to the embodiment of the present disclosure. DETAILED DESCRIPTION
[0025] To make the purpose, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present disclosure.
[0026] In related technologies, mobile devices use preset markers within the current scene for positioning, thereby accurately identifying their location within the scene. However, during the actual positioning process, if the actual position of the preset marker changes while its corresponding preset position on the electronic map of the current scene is not adjusted in a timely manner, the robot will continue to use the incorrect preset position during positioning, resulting in the mobile device experiencing persistent positioning anomalies.
[0027] In view of this, an embodiment of the present disclosure provides a method for updating the position of an identifier, which identifies a target identifier among the multiple preset identifiers that needs to be updated on the electronic map of the current scene based on the positioning results of the movable device through multiple preset identifiers in the current scene, and then obtains the preset position of the target identifier on the electronic map. In order to facilitate targeted adjustment of the preset position of the target identifier, the target local trajectory is determined according to the movement trajectory of the movable device in the current scene. The target local trajectory corresponds to a plurality of continuous identifiers, and the first identifier and the last identifier in the plurality of continuous identifiers are both valid identifiers that do not require position update, and the target identifier is located between the first identifier and the last identifier. Based on the actual posture and predicted posture of the movable device through the plurality of continuous identifiers, the preset position is updated, and then the target position of the target identifier after being updated on the electronic map is obtained, so as to improve the reliability of the electronic map, thereby effectively solving the problem of abnormal positioning of the movable device.
[0028] According to an embodiment of the present disclosure, an embodiment of a method for updating an identification location is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.
[0029] In this embodiment, a method for updating an identification position is provided, which can be used for the above-mentioned movable devices, such as robots, drones, smart vehicles, etc. Figure 1 is a flowchart of a method for updating a marker location according to an embodiment of the present disclosure. Figure 1 As shown, the process includes the following steps:
[0030] Step S101: Acquire multiple preset identifiers in the current scene.
[0031] To determine the configuration of preset identifiers within the current scene, multiple preset identifiers within the current scene are retrieved. Preset identifiers can be designated markers or QR codes, and can be customized as needed. The current scene can be any designated scene. For example, the current scene can be a warehouse area, factory area, logistics center, etc. Mobile devices can perform tasks such as moving and transshipping items within the corresponding scene, following a specified route and designated path.
[0032] Step S102: Based on the positioning results of the movable device using the multiple preset identifiers, a target identifier to be updated on the electronic map of the current scene is determined from the multiple preset identifiers, and the preset position of the target identifier on the electronic map is obtained.
[0033] To determine which preset markers in the current scene have changed their actual locations but have not been synchronously updated on the electronic map of the current scene, the positioning results of the mobile device using multiple preset markers are analyzed to determine whether, during the positioning process, the mobile device repeatedly experiences positioning anomalies when using a specific preset marker. If there is a preset marker that causes repeated positioning anomalies for the mobile device, it is determined that the preset marker requires a position update for the target marker on the electronic map of the current scene, and the preset position of the target marker on the electronic map is obtained to perform a targeted update on the position of the target marker on the electronic map.
[0034] Step S103: determining a target local trajectory according to the movement trajectory of the movable device in the current scene.
[0035] The target's local trajectory corresponds to multiple consecutive markers, where the first and last markers are valid markers that do not require location updates, and the target marker is located between the first and last markers. A valid marker is a preset marker whose actual location in the current scene corresponds to a preset location on the electronic map.
[0036] In order to clarify the adjustment direction of the preset position, the moving direction corresponding to each preset mark is determined according to the moving trajectory of the movable device in the current scene, and then the target mark is used as a reference to determine the continuous multiple marks in the electronic map containing the target mark, so as to obtain the following: Figure 2 The target local trajectory is shown in Figure 1. Different dots represent different preset markers.
[0037] Since the first and last identifiers in the multiple consecutive identifiers are both valid identifiers, when the preset position of the target identifier in the electronic map is updated, the first and last identifiers can provide a stable reference for determining the target position, thereby effectively improving the accuracy and efficiency of the position update.
[0038] Step S104 : based on the actual position and predicted position of the mobile device positioned by a plurality of consecutive markers, the preset position is updated to obtain the updated target position of the target marker on the electronic map.
[0039] Among them, in order to perform targeted updates on the preset position of the target identifier on the electronic map, the actual posture of the movable device when positioning through each of the multiple consecutive identifiers (including valid identifiers and target identifiers) and the predicted posture are obtained respectively, and the movement state of the movable device along the target local trajectory and the distance between adjacent identifiers are clarified, and then the relative position relationship between the actual movement state of the movable device and the target identifier is clarified, and the position of the target identifier in the electronic map is optimized in a targeted manner to achieve the purpose of updating, thereby obtaining the target position of the target identifier after update on the electronic map.
[0040] The identifier position updating method provided in this embodiment, upon detecting the presence of a target identifier in a current scene whose actual position differs from the preset position in an electronic map, determines a target partial trajectory corresponding to the target identifier from the movement trajectory of a movable device in the current scene to improve position updating efficiency. This partial trajectory is used to narrow the adjustment range of the preset position of the target identifier on the electronic map. Furthermore, based on the relative positional relationship between the actual movement state of the movable device and the target identifier, the position of the target identifier in the electronic map is specifically updated. This results in a more accurate updated target position, helps improve the reliability of the electronic map, and can effectively resolve the problem of abnormal positioning of the movable device.
[0041] In this embodiment, a method for updating an identification position is provided, which can be used for the above-mentioned movable devices, such as robots, drones, smart vehicles, etc. Figure 3 is a flowchart of a method for updating a marker location according to an embodiment of the present disclosure. Figure 3 As shown, the process includes the following steps:
[0042] Step S301: Acquire multiple preset identifiers in the current scene.
[0043] Step S302: Based on the positioning result of the mobile device using the multiple preset identifiers, a target identifier to be updated on the electronic map of the current scene among the multiple preset identifiers is determined.
[0044] Specifically, the above step S302 includes:
[0045] Step S3021 : determining a preset marker distance between every two adjacent preset markers according to the movement trajectory of the movable device in the current scene and the preset positions of the preset markers on the electronic map of the current scene.
[0046] Among them, in order to detect which preset markers in the current scene have different preset positions on the electronic map from their actual positions, the preset marker distance between each two adjacent preset markers is determined based on the movement trajectory of the movable device in the current scene and the preset positions of each preset marker on the electronic map of the current scene, and this is used as the reference distance.
[0047] Step S3022: determining an actual distance between every two adjacent preset markers according to the positioning result of the movable device through the plurality of preset markers.
[0048] Among them, in order to determine the actual position of each preset marker in the current scene, the positioning result of the movable device through the preset marker is determined, and the specific movement distance when the movable device is positioned through the previous preset marker is determined, and then the actual marker distance between the previous preset marker and the current preset marker is determined through the distance, thereby clarifying the actual marker distance between each two adjacent preset markers among multiple preset markers.
[0049] Step S3023: determining a target marker to be updated on the electronic map from among the plurality of preset markers based on a distance deviation between the preset marker distance and the corresponding actual marker distance.
[0050] After determining the preset marker distance and the corresponding actual marker distance between the same adjacent preset markers, the preset marker distance is compared with the corresponding actual marker distance to determine whether the distance deviation between the two is reasonable. If the distance deviation corresponding to the two currently adjacent preset markers is reasonable, it indicates that the actual positions of the two currently adjacent preset markers are the same as the corresponding preset positions on the electronic map, and it can be determined that both are valid markers. Conversely, if the distance deviation corresponding to the two currently adjacent preset markers is unreasonable, it indicates that the actual position of at least one of the two preset markers is significantly different from the corresponding preset position on the electronic map. Therefore, further analysis is performed on such two adjacent preset markers so that the target marker to be updated on the electronic map can be quickly determined from the multiple preset markers.
[0051] In some optional implementations, step S3023 includes:
[0052] Step a1: If the distance deviation between the preset identification distance and the corresponding actual identification distance is greater than a preset deviation threshold, it is determined that a target identification to be updated exists in the adjacent preset identifications corresponding to the preset identification distance;
[0053] Step a2: determining another adjacent third preset marker of the first preset marker on the electronic map based on the movement trajectory;
[0054] Step a3: If the distance deviation between the third preset marker and the second preset marker is less than or equal to the preset deviation, the first preset marker is determined to be the target marker.
[0055] Specifically, the preset deviation threshold is a preset maximum distance deviation value that determines that the current distance deviation is a reasonable deviation. If the distance deviation between the preset marker distance and the corresponding actual marker distance is greater than the preset deviation threshold, it is determined that a target marker to be updated exists among the adjacent preset markers corresponding to the preset marker distance. The adjacent preset markers include a first preset marker and a second preset marker. That is, at least one of the first preset marker and the second preset marker is the target marker.
[0056] After determining the first preset marker and the second preset marker, in order to facilitate further analysis, another adjacent third preset marker of the first preset marker on the electronic map is determined through the movement trajectory of the movable device, so as to obtain the actual marker distance when the movable device moves to the first preset marker after being positioned by the third preset marker.
[0057] If the distance deviation between the third preset marker and the second preset marker is less than or equal to the preset deviation, then the actual marker distance between the third preset marker and the second preset marker has a small distance deviation from the corresponding preset marker distance, and can be approximately the same. Therefore, it can be determined that the third preset marker and the second preset marker are both valid markers, and the first preset marker is the target marker. To facilitate the determination of the distance deviation between the third preset marker and the second preset marker, the position of the first preset marker in the electronic map is hidden, so that the third preset marker and the second preset marker are adjacent to each other, thereby facilitating the rapid determination of the distance deviation between the third preset marker and the second preset marker.
[0058] like Figure 2 As shown, the two middle nodes represent the first preset identifier and the second preset identifier respectively. Wherein, for ease of explanation, the second node is used as the first preset identifier and the third node is used as the second preset identifier in order from left to right. When the distance deviation between the first preset identifier and the second preset identifier is greater than the preset deviation threshold, then after determining the third preset identifier (the left node), the first preset identifier is hidden, and the third preset identifier and the second preset identifier are made to be in an adjacent state, thereby combining the preset identifier distance between the third preset identifier and the second preset identifier and the corresponding actual identifier distance to determine the distance deviation between the third preset identifier and the second preset identifier. If the distance deviation between the third preset identifier and the second preset identifier is less than or equal to the preset deviation preset, the first preset identifier is determined to be the target identifier.
[0059] In some optional implementations, the above step S3023 further includes:
[0060] Step a4: if the distance deviation between the third preset marker and the second preset marker is greater than a preset deviation, determining another adjacent fourth preset marker of the second preset marker on the electronic map;
[0061] Step a5: If the distance deviation between the second preset marker and the fourth preset marker is less than or equal to the preset deviation, the second preset marker is determined to be the target marker.
[0062] Specifically, if Figure 2 As shown, if the distance deviation between the third preset identifier and the second preset identifier is greater than the preset deviation, it indicates that the second preset identifier may be the target identifier, and the first preset identifier is a valid identifier. Therefore, to further determine whether the first preset identifier is a valid identifier, the fourth preset identifier (the rightmost node) adjacent to the second preset identifier on the electronic map is determined. If the distance deviation between the second preset identifier and the fourth preset identifier is less than or equal to the preset deviation, it indicates that the first preset identifier is indeed a valid identifier, and the second preset identifier can be determined to be the target identifier.
[0063] Step S303: Obtain the preset position of the target marker on the electronic map.
[0064] Step S304: determining a target local trajectory according to the movement trajectory of the movable device in the current scene.
[0065] Specifically, the above step S304 includes:
[0066] Step b1, determining two candidate preset markers adjacent to the target marker on the electronic map through the movement trajectory;
[0067] Step b2: If both candidate preset identifiers are valid identifiers, the local trajectories corresponding to the two candidate preset identifiers and the target identifier are used as the target local trajectory.
[0068] Specifically, to improve location update efficiency, the mobile device's trajectory is used to identify two candidate preset markers adjacent to the target marker on the electronic map. If both candidate preset markers are valid, the distance offset between one candidate preset marker and the target marker is compensated by the distance offset between the target marker and the other candidate preset marker, thereby correcting the distance deviation between the two candidate preset markers. Therefore, to achieve more accurate location updates, the local trajectories corresponding to the two candidate preset markers and the target marker are used as the target local trajectory, effectively eliminating erroneous observations and improving the reliability of target location determination.
[0069] Step S305 : Based on the actual position and predicted position of the mobile device positioned by the plurality of consecutive markers, the preset position is updated to obtain the updated target position of the target marker on the electronic map.
[0070] The marker position updating method provided in this embodiment is based on the distance deviation between the preset marker distance and the corresponding actual marker distance between two adjacent preset markers. This method can quickly filter out target markers in the electronic map that have not undergone synchronous position updates, and then perform targeted updates based on the determined target local trajectory. This can effectively narrow the scope of position adjustments on the electronic map, thereby ensuring the accuracy of position updates while helping to improve update efficiency and guarantee the reliability of the electronic map.
[0071] In some optional implementation scenarios, a periodic detection method can be used to detect whether there is a target identifier in the current scene, so that the preset position corresponding to the target identifier on the electronic map can be actually updated, thereby ensuring the positioning performance of the mobile device.
[0072] In this embodiment, a method for updating an identification position is provided, which can be used for the above-mentioned movable devices, such as robots, drones, smart vehicles, etc. Figure 4 is a flowchart of a method for updating a marker location according to an embodiment of the present disclosure. Figure 4 As shown, the process includes the following steps:
[0073] Step S401: Acquire multiple preset identifiers in the current scene.
[0074] Step S402: Based on the positioning results of the mobile device using the multiple preset identifiers, a target identifier to be updated on the electronic map of the current scene is determined among the multiple preset identifiers, and the preset position of the target identifier on the electronic map is obtained.
[0075] Step S403: determining a target local trajectory according to the movement trajectory of the movable device in the current scene.
[0076] Step S404 : Based on the actual position and predicted position of the mobile device positioned by the plurality of consecutive markers, the preset position is updated to obtain the updated target position of the target marker on the electronic map.
[0077] Specifically, the above step S404 includes:
[0078] Step S4041: According to the actual posture and predicted posture of the movable device positioned by multiple consecutive identifiers, a first position residual between each actual posture and the corresponding predicted posture is determined to obtain multiple first position residuals.
[0079] Among them, after determining multiple consecutive identifiers, in order to determine whether the moving state of the movable device is abnormal during the movement, the actual posture of the movable device when positioned by each identifier in the process of passing the local trajectory of the target and the corresponding predicted posture are determined respectively, and then multiple first position residuals are obtained to clarify the posture changes of the movable device when passing each identifier.
[0080] Step S4042 : determining the second position residual between each actual posture and the preset position of the corresponding marker, and obtaining a plurality of second position residuals.
[0081] Among them, in order to determine the relative position relationship between the actual moving state of the movable device and the target identifier, the second position residual between each actual posture and the preset position of the corresponding identifier is determined respectively, and multiple second position residuals are obtained to clarify the relationship between the actual posture of the movable device and the preset posture of the corresponding identifier when passing through each identifier.
[0082] Step S4043: Based on the plurality of first position residuals and the plurality of second position residuals, the preset position is updated to obtain the updated target position of the target marker on the electronic map.
[0083] To improve positioning accuracy, multiple first position residuals and multiple second position residuals are combined to construct a target optimization function. This target optimization function is used to predict the position on the electronic map corresponding to the actual position of the target marker. The optimal result of the target function is then used as the updated target position. This allows for more accurate updating of the preset position and improves the positioning accuracy of the target marker on the electronic map. For example, the target optimization function can be solved using a least squares method or other appropriate optimization algorithm to obtain the updated target position of the target marker on the electronic map.
[0084] In some optional implementations, the above step S4043 includes:
[0085] Step c1, determining the rigid body transformation result of transforming the current actual posture to the corresponding predicted posture;
[0086] Step c2: obtaining a first position residual between the current actual posture and the corresponding predicted posture based on the difference between the rigid body transformation result and the current actual posture.
[0087] Specifically, the expression of the target optimization function can be as follows:
[0088]
[0089] in, represents the first position residual between the actual pose of the movable device and the corresponding predicted pose, Represents the second position residual between the self-pose of the movable device and the current identifier. i},{m k} are the variables to be optimized, standing for pose (the robot's position) and marker (the location of the target marker). The goal of the entire formula is to find appropriate p and m (there are many possible p and m, distinguished by the subscripts i and k, respectively, where i and k are positive integers) to minimize the value of the objective function.
[0090] p i and p j Represents two different positions of the robot, R ij Indicates that from p i to p j The rotation transformation, t ij Indicates that from p i to p j Translation transformation. That is, (R ik p i +t ik ) represents the predicted value, p j The vertical line represents the true value, and the difference between the two is the residual. The vertical line represents the bi-norm, which is the square root of the sum of squares. It is a method of mapping R^n to R. Since pose(x,y,θ) is an R^3 vector and marker(x,y) is an R^2 vector, only (x,y) is used when calculating the bi-norm.
[0091] The identification position updating method provided in this embodiment can improve the positioning stability and reliability of the movable device by using a combination of multiple position residuals to update the preset position, thereby being able to more accurately determine the target position.
[0092] As one or more specific application embodiments of the present disclosure, when two target identifiers are detected in the current scene, in order to facilitate the location update of the two, the following can be extracted: Figure 5 The two target local paths (from left to right and from bottom to top) are shown, and then the positions are updated using the above-mentioned marker position update method to ensure the accuracy and reliability of the electronic map, thereby helping to improve the performance of the mobile device. Among them, the circles filled with "slashes" in the figure represent the actual positions of the target markers, the squares represent the actual positions of the valid markers, and the unfilled circles represent the actual position of the mobile device.
[0093] This embodiment also provides an identification location updating device for implementing the above-mentioned embodiments and preferred embodiments. Details already described will not be repeated. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.
[0094] This embodiment provides a device for updating a marker position, such as Figure 6 As shown, including:
[0095] An acquisition module 601 is used to acquire multiple preset identifiers in the current scene;
[0096] A detection module 602 is configured to determine, based on a positioning result of the mobile device using the plurality of preset identifiers, a target identifier among the plurality of preset identifiers for which a position update is to be performed on the electronic map of the current scene, and obtain the preset position of the target identifier on the electronic map;
[0097] Processing module 603 is configured to determine a target partial trajectory based on the movement trajectory of the movable device in the current scene, where the target partial trajectory corresponds to a plurality of consecutive identifiers, where the first and last identifiers of the plurality of consecutive identifiers are valid identifiers that do not require location updating, and the target identifier is between the first and last identifiers;
[0098] The updating module 604 is configured to update the preset position based on the actual position and predicted position of the mobile device positioned by a plurality of consecutive markers, and obtain the updated target position of the target marker on the electronic map.
[0099] In some optional implementations, the detection module 602 includes:
[0100] a first processing unit, configured to determine a preset marker distance between every two adjacent preset markers based on a movement trajectory of the movable device in the current scene and preset positions of the preset markers on the electronic map of the current scene;
[0101] A second processing unit is configured to determine an actual distance between two adjacent preset markers based on a positioning result of the movable device using the plurality of preset markers;
[0102] The third processing unit is configured to determine a target marker to be updated in position on the electronic map from among the plurality of preset markers based on a distance deviation between the preset marker distance and the corresponding actual marker distance.
[0103] In some optional implementations, the third processing unit includes:
[0104] A first execution unit is configured to determine, if a distance deviation between the preset identifier distance and the corresponding actual identifier distance is greater than a preset deviation threshold, whether a target identifier to be updated exists among adjacent preset identifiers corresponding to the preset identifier distance, the adjacent preset identifiers including a first preset identifier and a second preset identifier;
[0105] A first acquiring unit is configured to determine another adjacent third preset marker of the first preset marker on the electronic map based on the movement trajectory;
[0106] The second execution unit is configured to determine that the first preset identifier is a target identifier if a distance deviation between the third preset identifier and the second preset identifier is less than or equal to a preset deviation.
[0107] In some optional implementations, the third processing unit further includes:
[0108] a third execution unit, configured to determine another adjacent fourth preset marker of the second preset marker on the electronic map if a distance deviation between the third preset marker and the second preset marker is greater than a preset deviation;
[0109] The fourth execution unit is configured to determine that the second preset identifier is a target identifier if a distance deviation between the second preset identifier and the fourth preset identifier is less than or equal to a preset deviation.
[0110] In some optional embodiments, the processing module includes:
[0111] an identification unit, configured to determine two candidate preset markers adjacent to the target marker on the electronic map based on the movement trajectory;
[0112] The screening unit is configured to use the local trajectories corresponding to the two candidate preset identifiers and the target identifier as the target local trajectory if both candidate preset identifiers are valid identifiers.
[0113] In some optional implementations, the update module 604 includes:
[0114] a fourth processing unit, configured to determine, based on an actual position and a predicted position of the movable device positioned by using a plurality of consecutive identifiers, a first position residual between each actual position and a corresponding predicted position, to obtain a plurality of first position residuals;
[0115] a fifth processing unit, configured to respectively determine a second position residual between each actual posture and a preset position of a corresponding marker, to obtain a plurality of second position residuals;
[0116] The sixth processing unit is configured to update the preset position based on the plurality of first position residuals and the plurality of second position residuals to obtain an updated target position of the target marker on the electronic map.
[0117] In some optional implementations, the fourth processing unit includes:
[0118] a fifth execution unit, configured to determine a rigid body transformation result for transforming the current actual posture into the corresponding predicted posture;
[0119] The sixth execution unit is used to obtain a first position residual between the current actual posture and the corresponding predicted posture based on the difference between the rigid body transformation result and the current actual posture.
[0120] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.
[0121] The identification location update device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.
[0122] The present disclosure also provides an electronic device having the above Figure 6 The identification position updating device shown.
[0123] See also Figure 7 , Figure 7 is a structural diagram of an electronic device provided by an optional embodiment of the present disclosure, such as Figure 7 As shown, the electronic device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components utilize different buses to communicate with each other and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple electronic devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 7 A processor 10 is taken as an example.
[0124] The processor 10 may be a central processing unit, a network processor, or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic, or any combination thereof.
[0125] The memory 20 stores instructions that can be executed by at least one processor 10, so as to enable at least one processor 10 to execute the method shown in the above embodiment.
[0126] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and applications required for at least one function; the data storage area may store data created based on the use of the electronic device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely located relative to the processor 10, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
[0127] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid-state drive; the memory 20 may also include a combination of the above types of memory.
[0128] The electronic device further includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30, and the output device 40 may be connected via a bus or other means, with FIG. X taking the bus connection as an example.
[0129] The input device 30 can receive input digital or character information and generate key signal input related to user settings and function control of the electronic device, such as a touch screen, a keypad, a mouse, a trackpad, a touch pad, an indicator stick, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 can include a display device, an auxiliary lighting device (e.g., an LED), and a tactile feedback device (e.g., a vibration motor). The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display, and a plasma display. In some optional embodiments, the display device can be a touch screen.
[0130] The embodiments of the present disclosure also provide a computer-readable storage medium. The above-mentioned method according to the embodiments of the present disclosure can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor or hardware, the method shown in the above embodiment is implemented.
[0131] It is understandable that before using the technical solutions disclosed in the various embodiments of this disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved in this disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.
[0132] For example, in response to a user's active request, a prompt message is sent to the user to clearly inform the user that the operation requested will require the acquisition and use of the user's personal information. This allows the user to independently choose whether to provide personal information to the electronic device, application, server, storage medium, or other software or hardware that performs the operations of the disclosed technical solution based on the prompt message.
[0133] As an optional but non-limiting implementation, in response to receiving a user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. Furthermore, the pop-up window may also contain a selection control for the user to select "agree" or "disagree" to provide personal information to the electronic device.
[0134] It is understandable that the above notification and user authorization process are merely illustrative and do not limit the implementation of the present disclosure. Other methods that comply with relevant laws and regulations may also be applied to the implementation of the present disclosure.
[0135] Although the embodiments of the present disclosure have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present disclosure, and such modifications and variations are all within the scope defined by the appended claims.
Claims
1. A method for updating an identification location, characterized in that: The method comprises: Get multiple preset identifiers in the current scene; Based on the positioning results of the mobile device using the multiple preset identifiers, determining a target identifier among the multiple preset identifiers for which a position update is to be performed on the electronic map of the current scene, and obtaining the preset position of the target identifier on the electronic map; Determining a target partial trajectory based on a movement trajectory of the movable device in the current scene, the target partial trajectory corresponding to a plurality of consecutive identifiers, wherein a first identifier and a last identifier of the plurality of consecutive identifiers are valid identifiers that do not require location update, and the target identifier is located between the first identifier and the last identifier; Based on the actual position and predicted position of the movable device positioned by the plurality of consecutive identifiers, the preset position is updated to obtain the updated target position of the target identifier on the electronic map.
2. The method according to claim 1, characterized in that The determining, based on the positioning result of the mobile device through the multiple preset identifiers, a target identifier to be updated in position on the electronic map of the current scene from among the multiple preset identifiers, includes: determining a preset marker distance between every two adjacent preset markers based on a movement trajectory of the movable device in the current scene and a preset position of each preset marker on an electronic map of the current scene; determining an actual distance between every two adjacent preset markers according to a positioning result of the movable device using the plurality of preset markers; Based on the distance deviation between the preset marker distance and the corresponding actual marker distance, a target marker to be updated in position on the electronic map among the plurality of preset markers is determined.
3. The method according to claim 2, characterized in that The determining, based on the distance deviation between the preset identification distance and the corresponding actual identification distance, a target identification to be updated on the electronic map from among the plurality of preset identifications includes: If the distance deviation between the preset identification distance and the corresponding actual identification distance is greater than a preset deviation threshold, it is determined that there is a target identification to be updated in the adjacent preset identifications corresponding to the preset identification distance, and the adjacent preset identifications include a first preset identification and a second preset identification; determining, by the movement trajectory, another adjacent third preset marker of the first preset marker on the electronic map; If the distance deviation between the third preset identifier and the second preset identifier is less than or equal to the preset deviation, the first preset identifier is determined to be the target identifier.
4. The method according to claim 3, characterized in that The determining of a target identifier to be updated in position among the plurality of preset identifiers based on a distance deviation between the preset identifier distance and the corresponding actual identifier distance further includes: If the distance deviation between the third preset marker and the second preset marker is greater than the preset deviation, determining another adjacent fourth preset marker of the second preset marker on the electronic map; If the distance deviation between the second preset marker and the fourth preset marker is less than or equal to the preset deviation, the second preset marker is determined to be the target marker.
5. The method according to claim 1, wherein The determining of the target local trajectory according to the movement trajectory of the movable device in the current scene includes: Determining two candidate preset markers adjacent to the target marker on the electronic map based on the movement trajectory; If both of the two candidate preset identifiers are valid identifiers, the local trajectories corresponding to the two candidate preset identifiers and the target identifier are used as the target local trajectory.
6. The method according to claim 1, characterized in that The updating of the preset position based on the actual position and the predicted position of the movable device positioned by the plurality of consecutive identifiers to obtain the updated target position of the target identifier on the electronic map includes: Determining, based on the actual position and predicted position of the movable device positioned by the plurality of consecutive identifiers, a first position residual between each actual position and the corresponding predicted position, to obtain a plurality of first position residuals; Determine a second position residual between each actual posture and the preset position of the corresponding marker, respectively, to obtain a plurality of second position residuals; Based on the multiple first position residuals and the multiple second position residuals, the preset position is updated to obtain the updated target position of the target marker on the electronic map.
7. The method according to claim 6, characterized in that The determining, based on the actual posture and the predicted posture of the movable device positioned by the plurality of consecutive identifiers, a first position residual between each actual posture and the corresponding predicted posture, comprises: Determine the rigid body transformation result that transforms the current actual pose to the corresponding predicted pose; Based on the difference between the rigid body transformation result and the current actual posture, a first position residual between the current actual posture and the corresponding predicted posture is obtained.
8. A device for updating a marker position, characterized in that: The device comprises: The acquisition module is used to obtain multiple preset identifiers in the current scene; a detection module configured to determine, based on a positioning result of the movable device using the plurality of preset identifiers, a target identifier among the plurality of preset identifiers for which a position update is to be performed on the electronic map of the current scene, and obtain a preset position of the target identifier on the electronic map; a processing module, configured to determine a target partial trajectory based on a movement trajectory of the movable device in the current scene, the target partial trajectory corresponding to a plurality of consecutive identifiers, wherein a first identifier and a last identifier of the plurality of consecutive identifiers are valid identifiers that do not require location updating, and the target identifier is located between the first identifier and the last identifier; An updating module is used to update the preset position based on the actual position and predicted position of the movable device positioned by the multiple consecutive identifiers, and obtain the updated target position of the target identifier on the electronic map.
9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the identification position updating method according to any one of claims 1 to 7 by executing the computer instructions.
10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the identification position updating method according to any one of claims 1 to 7.