Single point positioning method and apparatus, device, medium

Abstract

The application discloses a single-point positioning method and device, equipment and medium. The single-point positioning method comprises the following steps: in the case that an original point position of an original point sensor is stored in a track robot, the track robot is controlled to move to the original point position; the displacement of the track robot on a guide rail is determined in real time, wherein the displacement is used to indicate the moving amount of the track robot from the original point position to a current position; and the target position of the track robot at present is determined based on the displacement and the original point position. According to the original point position of the original point sensor stored in the track robot, the track robot is controlled to move to the original point position, then the target position of the track robot at present is determined based on the displacement of the track robot on the guide rail between the original point position and the current position and the original point position. Compared with the prior art which needs to install multiple sensors at equal intervals, the application can realize accurate positioning of the track robot by arranging only one original point sensor, and the cost is effectively reduced.

Description

Technical Field

[0001] This application relates to, but is not limited to, the field of positioning technology, and in particular to a single-point positioning method, apparatus, device, and medium thereof. Background Technology

[0002] With the continuous development of automation in key sectors such as transportation and manufacturing, positioning technology, as a core supporting technology of the automation industry, is widely used in various fields. Existing positioning technologies achieve positioning by installing at least two sensors at equal intervals along the track and determining the preset position point corresponding to the sensor through the feedback signal triggered by the sensor. However, in practical applications, the need to install multiple sensors at equal intervals results in gaps in the obtained positioning, leading to high positioning costs and low accuracy. Summary of the Invention

[0003] This application provides a single-point positioning method, apparatus, device, and medium that can achieve low-cost, accurate positioning.

[0004] In a first aspect, embodiments of this application provide a single-point positioning method applied to a single-point positioning system. The single-point positioning system includes a guide rail and a tracked robot. The first track of the guide rail is located in a preset working area, and an origin sensor is provided at one end of the preset working area. The single-point positioning method includes:

[0005] If the orbital robot stores the origin position of the origin sensor, control the orbital robot to move to the origin position;

[0006] The displacement of the track robot on the guide rail is determined in real time, wherein the displacement is used to indicate the amount of movement of the track robot from the origin position to the current position;

[0007] The current target position of the orbital robot is determined based on the displacement and the origin position.

[0008] Secondly, according to an embodiment of this application, a single-point positioning device is provided, applied to a single-point positioning system, the single-point positioning system including a guide rail and a tracked robot, the first track of the guide rail being located in a preset working area, and an origin sensor being provided at one end of the preset working area, the single-point positioning device comprising:

[0009] A control device, wherein the control device is used to control the track robot to move to the origin position when the origin position of the origin sensor is stored in the track robot;

[0010] A displacement device is used to determine the displacement of the track robot on the guide rail in real time, wherein the displacement is used to indicate the amount of movement of the track robot from the origin position to the current position;

[0011] A computing device for determining the current target position of the orbital robot based on the displacement and the origin position.

[0012] Thirdly, an electronic device provided according to an embodiment of this application includes:

[0013] At least one processor;

[0014] At least one memory for storing at least one program;

[0015] When at least one of the programs is executed by at least one of the processors, the single-point positioning method according to any of the first aspects is implemented.

[0016] Fourthly, according to the embodiments of the application, a computer-readable storage medium is provided, storing computer-executable instructions, which are used to execute the single-point positioning method described in any of the first aspects.

[0017] In summary, the above embodiments of this application are applied to a single-point positioning system, which includes a guide rail and a tracked robot. The first track of the guide rail is located in a preset working area, and an origin sensor is provided at one end of the preset working area. The single-point positioning method includes: controlling the tracked robot to move to the origin position when the origin sensor stores the origin position of the tracked robot; determining the displacement of the tracked robot on the guide rail in real time, wherein the displacement is used to indicate the amount of movement corresponding to the tracked robot moving from the origin position to the current position; and determining the current target position of the tracked robot based on the displacement and the origin position. The embodiments of this application can control the tracked robot to move to the origin position according to the origin position of the origin sensor stored in the tracked robot, and then determine the current target position of the tracked robot based on the real-time determined displacement of the tracked robot on the guide rail and the origin position, as well as the origin position. Compared with existing solutions that require multiple sensors to be installed at equal intervals, this application only requires one origin sensor to achieve accurate positioning of the tracked robot, effectively reducing costs. Attached Figure Description

[0018] Figure 1 This application provides a structural diagram of a single-point positioning system according to one embodiment;

[0019] Figure 2 This is a flowchart illustrating the steps of a single-point positioning method provided in one embodiment of this application;

[0020] Figure 3 This is a flowchart illustrating the determination of the origin position of an orbital robot according to an embodiment of this application;

[0021] Figure 4 This is a hardware schematic diagram of an electronic device provided in one embodiment of this application. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0023] It is understandable that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, or the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0024] With the continuous development of automation in key sectors such as transportation and manufacturing, positioning technology, as a core supporting technology of the automation industry, is widely used in various fields. Existing positioning technologies achieve positioning by installing at least two sensors at equal intervals along the track and determining the preset position point corresponding to the sensor through the feedback signal triggered by the sensor. However, in practical applications, the need to install multiple sensors at equal intervals results in gaps in the obtained positioning, leading to high positioning costs and low accuracy.

[0025] Based on this, embodiments of this application provide a single-point positioning method, applied to a single-point positioning system, referring to... Figure 1 As shown, the single-point positioning system includes a guide rail and a track robot. The first track of the guide rail is located in a preset work area, and an origin sensor is set at one end of the preset work area.

[0026] Reference Figure 2 As shown, the single-point positioning method in this application includes, but is not limited to, the following steps:

[0027] Step S10: If the orbital robot has stored the origin position of the origin sensor, control the orbital robot to move to the origin position.

[0028] Step S11: Determine the displacement of the track robot on the guide rail in real time, wherein the displacement is used to indicate the amount of movement of the track robot from the origin position to the current position;

[0029] Step S12: Determine the current target position of the orbital robot based on the displacement and the origin position.

[0030] Existing positioning technologies achieve positioning by installing at least two sensors at equal intervals along the track and determining the preset position point corresponding to the sensor through the feedback signal triggered by the sensor. However, existing positioning technologies require at least two sensors, and the increased number of sensors raises the cost of positioning. Furthermore, existing positioning technologies achieve positioning by acquiring the preset position points of the sensors, and the equal intervals between the sensors result in gaps in the obtained positioning, leading to reduced positioning accuracy. Therefore, the embodiments of this application only require setting a single origin sensor in the preset working area. Based on the origin position stored by the origin sensor, the track robot is controlled to move to the origin position. Then, based on the real-time determined displacement of the track robot on the guide rail and the origin position, and the origin position, the current target position of the track robot is determined. Compared to existing solutions that require multiple sensors installed at equal intervals, this application only requires a single origin sensor to achieve accurate positioning of the track robot, effectively reducing costs.

[0031] It is understood that this application does not limit the specific device type of the origin sensor, and it can be a micro switch, reed switch, Hall sensor, TMR, magnetoresistive, photoelectric switch, infrared, etc.

[0032] It is understood that this application does not limit the number of track robots, and those skilled in the art can set the specific number of track robots according to actual needs.

[0033] In this embodiment, the origin sensor is used to emit an origin signal. The orbital robot receiving the origin signal indicates that the orbital robot has reached the position of the origin sensor.

[0034] In some embodiments, the guide rail further includes a second track and a third track. The second track is located on the side closer to the preset working area where the origin sensor is located, and the third track is located on the side farther from the preset working area where the origin sensor is located. The second track, the first track, and the third track are connected in sequence. Before controlling the track robot to move to the origin position when the origin position of the origin sensor is stored in the track robot, the following steps are further included:

[0035] In the case of the track robot being powered on for the first time or restarting after a power outage, determine whether the track robot has received the origin signal from the origin sensor. The origin signal is associated with the origin position.

[0036] If the orbital robot does not receive the origin signal, control the orbital robot to move a reference distance in the direction of the third track until the orbital robot receives the origin signal. If the orbital robot receives the origin signal, the orbital robot saves the origin position associated with the origin signal to the local machine. The reference distance is the length of the second track, and the first distance is less than the length of the third track.

[0037] Understandably, referring to Figure 3 As shown, in this embodiment of the application, by controlling the track robot to move a reference distance in the direction of the third track, when the origin sensor is located in the direction of the third track at the current position of the track robot, the origin signal will definitely be received after moving a preset reference distance, thereby reducing the time required for the track robot to traverse and search for the origin sensor in the direction of the third track of the guide rail.

[0038] For example, refer to Figure 1 As shown, taking the origin sensor as an example where the origin sensor is on the left side of the preset working area, when the track robot is on the right side of the origin sensor, the track robot first moves to the left a preset reference distance until it receives the origin signal.

[0039] This embodiment of the application sets the first distance to be less than the length of the third track, so that the range of movement of the track robot during the process of determining the origin position is within the range of the guide rail, thus avoiding the situation where the track robot deviates from the guide rail and is damaged.

[0040] Since the storage device of a track robot is usually volatile memory, the reference origin position stored in the volatile memory is lost after the track robot restarts following a power outage. Therefore, this application determines the origin position of the track robot based on an origin sensor, whether the track robot is in its initial power-on state or in a restart state after a power outage.

[0041] In some embodiments, if the orbital robot stores the origin position of the origin sensor, before controlling the orbital robot to move to the origin position, the method further includes:

[0042] If the orbital robot fails to receive the origin signal after moving a first distance towards the third track, control the orbital robot to move towards the second track until the origin signal is received.

[0043] When the orbital robot receives the origin signal, it saves the origin position associated with the origin signal to its local storage.

[0044] Since the situation where the orbital robot cannot receive the origin signal after moving a preset first distance towards the third track indicates that the origin sensor is located in the direction of the second track at the current position of the orbital robot, the orbital robot is controlled to move towards the direction of the second track until the origin signal is received, and the origin position associated with the origin signal is saved locally.

[0045] In some embodiments, the track robot includes a drive mechanism and a transmission mechanism, which are connected by a drive mechanism. The drive mechanism includes an incremental encoder that determines the displacement of the track robot on the guide rail in real time, including:

[0046] Incremental encoders acquire the rotation angle of the drive mechanism in real time;

[0047] The displacement of the track robot on the guide rail is calculated based on the rotation angle, the preset reduction ratio corresponding to the drive mechanism, and the preset physical parameters corresponding to the transmission mechanism.

[0048] Therefore, in this embodiment of the application, the displacement of the track robot on the guide rail is accurately calculated by taking into account the preset reduction ratio of the drive mechanism and the preset physical parameters corresponding to the transmission mechanism.

[0049] It is understood that the drive mechanism in this application embodiment is used to drive the movement of the track robot. The preset reduction ratio corresponding to the drive structure is a preset speed ratio between the drive mechanism and the transmission mechanism, representing the reduction of the output speed of the drive mechanism to the output speed of the transmission mechanism. This application embodiment does not limit the specific device type of the drive mechanism, and it can be a stepper motor, servo motor, or other device types. Those skilled in the art can select the specific device type of the drive mechanism according to actual needs.

[0050] It is understood that the transmission mechanism in this application embodiment is used to convert the rotational motion of the drive mechanism into linear motion, and the preset physical parameters corresponding to the transmission mechanism are the preset physical parameters of the transmission mechanism. This application does not limit the specific equipment type of the transmission mechanism, and it can be a lead screw and nut mechanism, a gear and rack mechanism, a synchronous belt drive mechanism, or other equipment types.

[0051] In some embodiments, determining the current target position of the orbital robot based on displacement and origin position includes:

[0052] The rotation direction of the drive mechanism is determined by an incremental encoder;

[0053] The current target position of the orbital robot is obtained by weighted calculation based on the rotation direction, displacement, and reference origin position.

[0054] Since the movement of the track robot on the track is directional, the rotation direction of the robot's drive structure needs to be considered when calculating the robot's current target position. Therefore, this embodiment of the application calculates the current target position of the track robot by weighting the displacement and the reference origin position based on the rotation direction of the drive mechanism.

[0055] In some embodiments, the end of the second track near the preset working area where the origin sensor is located is designated as the first end, and the end of the third track away from the preset working area where the origin sensor is located is designated as the second end. The first end is equipped with a first limit switch, and the second end is equipped with a second limit switch. The single-point positioning system is associated with a target account. After determining the current target position of the track robot based on displacement and origin position, the method further includes:

[0056] When the track robot is triggered by the first limit switch or the second limit switch, the motor controlling the track robot will stop running or slow down.

[0057] If the target position is on the second or third track, and the moving speed of the track robot is greater than 0, an alarm message is generated based on the target position and moving speed, and the alarm message is sent to the target account.

[0058] Therefore, this embodiment of the application provides a first limit switch at the first end and a second limit switch at the second end. When the track robot is triggered by the first or second limit switch, the motor of the track robot is controlled to stop running or slow down, thus preventing the track robot from derailing and being damaged.

[0059] It is understood that, in the embodiments of this application, a first mechanical limiting structure may be provided at the first end and a second mechanical limiting structure may be provided at the second end to prevent the track robot from deviating from the track and causing damage to the track robot.

[0060] It is understood that the target account in this application can be the target administrator account of the single point positioning system.

[0061] In some embodiments, after determining the current target position of the orbital robot based on displacement and origin position, the method further includes:

[0062] When the track robot is triggered by the first limit switch, control the track robot to move a first distance in the direction of approaching the third track;

[0063] When the track robot is triggered by the second limit switch, the track robot is controlled to move a second distance in the direction of approaching the second track, wherein the first distance is less than the second distance.

[0064] Therefore, in this embodiment, the area between the second and third tracks is used as a buffer zone. When the track robot is triggered by the first limit switch, that is, when the track robot hits the limit switch, the track robot is controlled to move in the opposite direction and return to the preset working area, which can prevent the track robot from derailing.

[0065] In some embodiments, this application provides a single-point positioning device. The single-point positioning system includes a guide rail and a track robot. The first track of the guide rail is located in a preset working area. An origin sensor is provided at one end of the preset working area. The single-point positioning device includes:

[0066] A control device is used to control the track robot to move to the origin position when the origin position of the track robot is stored in the origin sensor.

[0067] The displacement device is used to determine the displacement of the track robot on the guide rail in real time. The displacement is used to indicate the amount of movement of the track robot from the origin position to the current position.

[0068] A computing device is used to determine the current target position of the orbital robot based on displacement and origin position.

[0069] The specific embodiments of the single-point positioning device in this application are basically the same as the specific embodiments of the single-point positioning method described above, and will not be repeated here.

[0070] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described single-point positioning method. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0071] Please see Figure 4 , Figure 4 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes:

[0072] The processor 901 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0073] The memory 902 can be implemented as a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 902 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 902 and is called and executed by the processor 901 using the single-point positioning method of the embodiments of this application.

[0074] The input / output interface 903 is used to implement information input and output;

[0075] The communication interface 904 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0076] Bus 905 transmits information between various components of the device (e.g., processor 901, memory 902, input / output interface 903, and communication interface 904);

[0077] The processor 901, memory 902, input / output interface 903, and communication interface 904 are connected to each other within the device via bus 905.

[0078] In some embodiments, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described single-point positioning method.

[0079] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0080] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0081] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0082] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0083] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0084] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0085] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0086] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0087] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0088] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0089] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A single-point positioning method, characterized in that, An application is made in a single-point positioning system, which includes a guide rail and a tracked robot. A first track of the guide rail is located within a preset work area. An origin sensor is located at one end of the preset work area. The guide rail also includes a second track and a third track. The second track is located closer to the preset work area where the origin sensor is located, and the third track is located away from the preset work area where the origin sensor is located. The second track, the first track, and the third track are connected sequentially. The single-point positioning method includes: If the orbital robot stores the origin position of the origin sensor, control the orbital robot to move to the origin position; The displacement of the track robot on the guide rail is determined in real time, wherein the displacement is used to indicate the amount of movement of the track robot from the origin position to the current position; The current target position of the orbital robot is determined based on the displacement and the origin position; Wherein, if the orbital robot stores the origin position of the origin sensor, before controlling the orbital robot to move to the origin position, the method further includes: In the case of the track robot being powered on for the first time or restarting after a power outage, it is determined whether the track robot receives the origin signal from the origin sensor, and the origin signal is associated with the origin position. If the orbital robot does not receive the origin signal, the orbital robot is controlled to move a reference distance in the direction of the third track until the orbital robot receives the origin signal. If the orbital robot receives the origin signal, the orbital robot saves the origin position associated with the origin signal to its local storage. The reference distance is the length of the second track and is less than the length of the third track. Wherein, if the orbital robot stores the origin position of the origin sensor, before controlling the orbital robot to move to the origin position, the method further includes: If the orbital robot fails to receive the origin signal after moving the reference distance towards the third track, the robot is controlled to move towards the second track until the origin signal is received. When the orbital robot receives the origin signal, the orbital robot saves the origin position associated with the origin signal to its local storage.

2. The single-point positioning method according to claim 1, characterized in that, The tracked robot includes a drive mechanism and a transmission mechanism, which are connected by a drive mechanism. The drive mechanism includes an incremental encoder. The real-time determination of the displacement of the tracked robot on the guide rail includes: The incremental encoder acquires the rotation angle of the drive mechanism in real time. The displacement of the track robot on the guide rail is calculated based on the rotation angle, the preset reduction ratio corresponding to the drive mechanism, and the preset physical parameters corresponding to the transmission mechanism.

3. The single-point positioning method according to claim 2, characterized in that, Determining the current target position of the orbital robot based on the displacement and the origin position includes: The rotation direction of the drive mechanism is determined by the incremental encoder. The current target position of the orbital robot is obtained by weighted calculation based on the rotation direction, the displacement, and the origin position.

4. The single-point positioning method according to claim 1, characterized in that, The second track has one end near the preset work area where the origin sensor is located, designated as the first end; the third track has one end away from the preset work area where the origin sensor is located, designated as the second end; the first end is equipped with a first limit switch; the second end is equipped with a second limit switch; the single-point positioning system is associated with a target account; after determining the current target position of the track robot based on the displacement and the origin position, the method further includes: When the track robot is triggered by the first limit switch or the second limit switch, the motor of the track robot is controlled to stop running or slow down. If the target position is located on the second track or the third track, and the moving speed of the track robot is greater than 0, an alarm message is generated based on the target position and the moving speed, and the alarm message is sent to the target account.

5. The single-point positioning method according to claim 4, characterized in that, After determining the current target position of the orbital robot based on the displacement and the origin position, the method further includes: When the track robot is triggered by the first limit switch, the track robot is controlled to move a first distance in the direction of approaching the third track; When the track robot is triggered by the second limit switch, the track robot is controlled to move a second distance in the direction of approaching the second track, wherein the first distance is less than the second distance.

6. A single-point positioning device for implementing the single-point positioning method according to any one of claims 1 to 5, characterized in that, An application is made in a single-point positioning system, the single-point positioning system including a guide rail and a tracked robot, the first track of the guide rail being located in a preset working area, and an origin sensor being provided at one end of the preset working area; the single-point positioning device includes: A control device, wherein the control device is used to control the track robot to move to the origin position when the origin position of the origin sensor is stored in the track robot; A displacement device is used to determine the displacement of the track robot on the guide rail in real time, wherein the displacement is used to indicate the amount of movement of the track robot from the origin position to the current position; A computing device for determining the current target position of the orbital robot based on the displacement and the origin position.

7. An electronic device, characterized in that, include: At least one processor; At least one memory for storing at least one program; When at least one of the programs is executed by at least one of the processors, the single-point positioning method as described in any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium storing computer-executable instructions, characterized in that, The computer-executable instructions are used to execute the single-point positioning method according to any one of claims 1 to 5.

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