CN114779256B - Position information generation method, device, equipment and computer readable medium - Google Patents
Position information generation method, device, equipment and computer readable medium Download PDFInfo
- Publication number
- CN114779256B CN114779256B CN202210338945.9A CN202210338945A CN114779256B CN 114779256 B CN114779256 B CN 114779256B CN 202210338945 A CN202210338945 A CN 202210338945A CN 114779256 B CN114779256 B CN 114779256B
- Authority
- CN
- China
- Prior art keywords
- sensor data
- robot
- determining
- response
- position information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 40
- 230000004044 response Effects 0.000 claims abstract description 38
- 238000004590 computer program Methods 0.000 claims description 8
- 238000002372 labelling Methods 0.000 claims description 5
- 230000006870 function Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Embodiments of the present disclosure disclose a position information generation method, apparatus, device, and computer-readable medium. One embodiment of the method comprises the following steps: in response to receiving sensor data sent by a sensor data processing end, determining a data delay of the sensor data according to a time stamp contained in the sensor data and a response time of a processor of the robot; determining the position offset of the robot based on the data delay and the running parameters of the robot; determining whether the positional offset is less than or equal to a positional offset threshold; and generating the position information of the object to be marked according to the sensor data in response to determining that the position offset is smaller than or equal to the position offset threshold. This embodiment achieves ensuring accuracy of the position information.
Description
Technical Field
Embodiments of the present disclosure relate to the field of computer technology, and in particular, to a method, an apparatus, a device, and a computer readable medium for generating location information.
Background
The robot often performs obstacle detection and marking by means of a laser radar, an ultrasonic sensor and the like. In the process, the positions of various objects such as obstacles in an actual scene need to be determined through sensor data of various sensors such as ultrasonic sensors.
However, when the position of various objects such as an obstacle is determined in the above manner, there are often the following technical problems:
Because of a certain delay of the sensor data, the robot is in a running state, so that the determined position is inaccurate.
Disclosure of Invention
The disclosure is in part intended to introduce concepts in a simplified form that are further described below in the detailed description. The disclosure is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter. Some embodiments of the present disclosure propose a position information generation method, apparatus, device, and computer readable medium to solve one or more of the technical problems mentioned in the background section above.
In a first aspect, some embodiments of the present disclosure provide a position information generating method, applied to a robot, including: in response to receiving sensor data sent by a sensor data processing end, determining a data delay of the sensor data according to a time stamp contained in the sensor data and a response time of a processor of the robot; determining the position offset of the robot based on the data delay and the running parameters of the robot; determining whether the positional offset is less than or equal to a positional offset threshold; and generating the position information of the object to be marked according to the sensor data in response to determining that the position offset is smaller than or equal to the position offset threshold.
In a second aspect, some embodiments of the present disclosure provide a location information generating apparatus, the apparatus including: the delay determining unit is configured to determine the data delay of the sensor data according to the time stamp contained in the sensor data and the response time of the processor of the robot in response to receiving the sensor data sent by the sensor data processing end; a positional deviation determining unit configured to determine a positional deviation of the robot based on the data delay and a running parameter of the robot; a determining unit configured to determine whether the positional shift is less than or equal to a positional shift threshold; and a generating unit configured to generate position information of the object to be annotated according to the sensor data in response to determining that the position offset is less than or equal to the position offset threshold.
In a third aspect, some embodiments of the present disclosure provide an electronic device comprising: one or more processors; a storage device having one or more programs stored thereon, which when executed by one or more processors causes the one or more processors to implement the method described in any of the implementations of the first aspect above.
In a fourth aspect, some embodiments of the present disclosure provide a computer readable medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method described in any of the implementations of the first aspect above.
The above embodiments of the present disclosure have the following advantageous effects: the generated position information is more accurate. In the related method for determining the position information, due to factors such as data transmission, processing and the like, a certain time delay exists in the sensor data received by the processor. That is, the data received at the current time is substantially data before a period of time. Because the robot is in a motion state and the specific time length of the delay is unknown, the position information determined according to the sensor data is inaccurate, and the deviation from the real position information is large. Based on this, some embodiments of the present disclosure compare the position offset threshold with the position offset, and ensure that only if the position offset threshold is less than or equal to the position offset threshold, the position information of the object to be marked is generated according to the sensor data, so as to ensure the accuracy of the position information.
Drawings
The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.
FIG. 1 is a flow chart of some embodiments of a location information generation method according to the present disclosure;
FIG. 2 is an exemplary distribution schematic of at least one sensor on a robot in a position information generation method according to the present disclosure;
FIG. 3 is an exemplary schematic diagram of a target time period in a location information generation method according to some embodiments of the present disclosure;
FIG. 4 is a flow chart of other embodiments of a location information generation method according to the present disclosure;
Fig. 5 is a schematic structural view of some embodiments of a location information generating device according to the present disclosure;
Fig. 6 is an exemplary structural schematic diagram of a robot suitable for use in implementing some embodiments of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. Embodiments of the present disclosure and features of embodiments may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.
The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.
The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
With continued reference to fig. 1, a flow 100 of some embodiments of a location information generation method according to the present disclosure is shown. The position information generation method is applied to a robot and comprises the following steps:
Step 101, in response to receiving the sensor data sent by the sensor data processing end, determining the data delay of the sensor data according to the timestamp contained in the sensor data and the response time of the processor of the robot.
In some embodiments, the execution subject of the position information generation method may be a processor of the robot. The sensor data processing end may be a processing end for processing sensor data, for example, may be a single chip microcomputer communicatively connected to at least one sensor. The sensor data processing end can receive data of at least one sensor. On the basis, adding a time stamp to obtain sensor data. And then sent to the processor of the robot. As an example, as shown in fig. 2, the robot includes a housing 201, and an ultrasonic sensor a, an ultrasonic sensor B, an ultrasonic sensor C, an ultrasonic sensor D, an ultrasonic sensor E, and an ultrasonic sensor F may be provided on the housing 201.
On this basis, the execution subject may determine a difference between a time stamp contained in the sensor data and the response time of the processor, and delay the difference as data of the sensor data. The response time may be, for example, the time at which the processor receives the sensor data. As an example, the response time may be the current time.
In some optional implementations of some embodiments, to solve the problem of time dyssynchrony between the processor and the sensor data processing end, the executing entity may time the sensor data processing end with a target time period.
As an example, as shown in fig. 3, the execution body may time the sensor data processing end with T (t1+t2) as a period. Specifically, the time service signal is sent in the time period t1, and the interval time is t2. After receiving the time service signal, the sensor data processing end can calibrate the local clock according to the time service signal. In the interval time t2, the sensor data processing end is clocked by means of an internal clock. In these implementations, time synchronization is guaranteed through time service, and further, it is guaranteed that the position offset determined according to the data delay is more accurate.
Step 102, determining the position offset of the robot based on the data delay and the running parameters of the robot.
In some embodiments, the executing body may determine the positional offset of the robot based on the data delay and the driving parameter of the robot. The driving parameter may be a speed, a driving direction, or the like. On the basis, the time delay and the speed can be multiplied to obtain a position offset value, and the position offset direction is determined according to the running direction.
Step 103, determining whether the positional offset is less than or equal to a positional offset threshold.
In some embodiments, the execution body may compare the positional offset to a positional offset threshold to determine whether the positional offset is less than or equal to the positional offset threshold.
And step 104, generating the position information of the object to be marked according to the sensor data in response to determining that the position deviation is smaller than or equal to the position deviation threshold.
In some embodiments, in response to determining that the positional offset is less than or equal to the positional offset threshold, the execution body may generate positional information of the object to be annotated from the sensor data. As an example, the sensor data may be a reflection duration t, and the distance S may be determined by the following formula:
S=0.5×t×v, where v is the propagation speed of sound in air.
On the basis, the determination of the robot can be performed by taking the current position as the center of a circle and the distance S as the radius. On the basis, the target point on the circle is determined according to the running direction of the robot, so that the position information of the object to be marked can be generated, namely the position information of the target point.
In practice, in the case where the sensor data includes data of a plurality of sensors, the positional information of the object to be marked may be comprehensively determined from the data of the plurality of sensors.
In some alternative implementations of some embodiments, the executing entity may discard the sensor data in response to determining that the positional offset is greater than a positional offset threshold. The position information error is prevented from being too large due to the too large offset.
According to the method provided by some embodiments of the present disclosure, the position offset threshold value is compared with the position offset, so that the position information of the object to be marked is generated according to the sensor data only when the position offset threshold value is smaller than or equal to the position offset threshold value, and the accuracy of the position information is guaranteed.
With further reference to fig. 4, a flow 400 of further embodiments of a location information generation method is shown. The process 400 of the location information generation method includes the steps of:
step 401, in response to receiving the sensor data sent by the sensor data processing end, determining a data delay of the sensor data according to a timestamp included in the sensor data and a response time of a processor of the robot.
Step 402, determining the position offset of the robot based on the data delay and the running parameters of the robot.
In step 403, it is determined whether the positional offset is less than or equal to a positional offset threshold.
In step 404, in response to determining that the positional offset is less than or equal to the positional offset threshold, positional information of the object to be annotated is generated from the sensor data.
In some embodiments, the specific implementation of steps 401-404 and the technical effects thereof may refer to those embodiments corresponding to fig. 1, and are not described herein.
And 405, marking the object to be marked in the electronic map according to the position information.
In some embodiments, the executing body may label the object to be labeled in the electronic map according to the location information. As an example, the execution body may determine the labeling identifier corresponding to the object to be labeled and determine the position coordinates of the object to be labeled in the electronic map. And then, the position represented by the position coordinates in the electronic map presents the object to be annotated.
As can be seen from fig. 4, compared to the description of some embodiments corresponding to fig. 1, the flow 400 of the position information generating method in some embodiments corresponding to fig. 4 adds the steps of labeling in the electronic map, so that the labeling accuracy can be improved.
With further reference to fig. 5, as an implementation of the method shown in the above figures, the present disclosure provides some embodiments of a location information generating apparatus, which correspond to those method embodiments shown in fig. 1, and which are particularly applicable in various electronic devices.
As shown in fig. 5, the location information generating apparatus 500 of some embodiments includes: a delay determination unit 501, a position offset determination unit 502, a determination unit 503, and a generation unit 504. Wherein, the delay determining unit 501 is configured to determine, in response to receiving the sensor data sent by the sensor data processing end, a data delay of the sensor data according to a time stamp included in the sensor data and a response time of a processor of the robot; a positional deviation determining unit 502 configured to determine a positional deviation of the robot based on the data delay and the travel parameter of the robot; a determining unit 503 configured to determine whether the positional shift is less than or equal to a positional shift threshold; a generating unit 504 configured to generate position information of the object to be annotated from the sensor data in response to determining that the position offset is less than or equal to the position offset threshold.
In an alternative implementation of some embodiments, the apparatus 500 further comprises: and the labeling unit is configured to label the object to be labeled in the electronic map according to the position information.
In an alternative implementation of some embodiments, the apparatus 500 further comprises: and the time service unit is configured to time the sensor data processing end in a target time period.
In an alternative implementation of some embodiments, the apparatus 500 further comprises: and a discarding unit configured to discard the sensor data in response to determining that the positional offset is greater than the positional offset threshold.
It will be appreciated that the elements described in the apparatus 500 correspond to the various steps in the method described with reference to fig. 2. Thus, the operations, features and resulting benefits described above with respect to the method are equally applicable to the apparatus 500 and the units contained therein, and are not described in detail herein.
Referring now to fig. 6, a schematic diagram of a robot 600 suitable for use in implementing some embodiments of the present disclosure is shown. The robot shown in fig. 6 is only one example and should not impose any limitation on the function and scope of use of the embodiments of the present disclosure.
As shown in fig. 6, the robot 600 may include an ultrasonic sensor control board 601, a processor 602 of the robot. Optionally, the structure 600 may further comprise a photographing device 603. Fig. 6 shows a robot 600 having various devices, but it should be understood that not all of the illustrated devices are required to be implemented or provided. More or fewer devices may be implemented or provided instead. Each block shown in fig. 6 may represent one device or a plurality of devices as needed. Optionally, the structure 600 may further include one or more of the following: batteries, power management boards, servo motor drivers, servo motors, signal control boards, buses, and the like.
Among them, the ultrasonic sensor control board 601 is an example of a sensor data processing end. The sensor data processing end is in communication with at least one sensor. The ultrasonic sensor control board 601 may be used to receive sensor data and transmit it as sensor data to the processor 602. Optionally, the ultrasonic sensor control board 601 may also perform certain processing on the received data of the sensor.
The processor 602 may be used to perform the location information generation method of some embodiments of the present disclosure. Optionally, the processor 602 may also be used to perform a robot scheduling task, for example to drive the photographing device 603 to photograph images.
Alternatively, to ensure time synchronization, processor 602 and ultrasonic sensor wave control board 601 may transmit timing signals via RS232 (a serial communication interface) or I/O.
In particular, according to some embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. The above-described functions defined in the methods of some embodiments of the present disclosure are performed when the computer program is executed by the processing means 602.
It should be noted that, the computer readable medium described in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, the computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In some embodiments, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
The computer readable medium may be contained in the robot; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the robot to: in response to receiving sensor data sent by a sensor data processing end, determining a data delay of the sensor data according to a time stamp contained in the sensor data and a response time of a processor of the robot; determining the position offset of the robot based on the data delay and the running parameters of the robot; determining whether the positional offset is less than or equal to a positional offset threshold; and generating the position information of the object to be marked according to the sensor data in response to determining that the position offset is smaller than or equal to the position offset threshold.
Computer program code for carrying out operations for some embodiments of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in some embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. The described units may also be provided in a processor, for example, described as: a processor includes a delay determination unit, a position offset determination unit, a determination unit, and a generation unit. The names of these units do not constitute limitations on the unit itself in some cases, and for example, the delay determining unit may also be described as "a unit that determines a data delay of sensor data from a time stamp contained in the sensor data and a response time of a processor of the robot".
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the invention. Such as the above-described features, are mutually substituted with (but not limited to) the features having similar functions disclosed in the embodiments of the present disclosure.
Claims (10)
1. A position information generation method is applied to a robot and comprises the following steps:
in response to receiving sensor data sent by a sensor data processing end, determining data delay of the sensor data according to a time stamp contained in the sensor data and response time of a processor of the robot;
determining the position offset of the robot based on the data delay and the running parameters of the robot;
determining whether the positional offset is less than or equal to a positional offset threshold;
And generating position information of the object to be marked according to the sensor data in response to determining that the position deviation is smaller than or equal to the position deviation threshold.
2. The method of claim 1, wherein the method further comprises:
And marking the object to be marked in the electronic map according to the position information.
3. The method of claim 1, wherein before the determining the data delay of the sensor data according to the timestamp included in the sensor data and the response time of the processor of the robot in response to receiving the sensor data sent by the sensor data processing end, comprising:
and timing the time to the sensor data processing end in a target time period.
4. The method of claim 1, wherein the method further comprises:
the sensor data is discarded in response to determining that the positional offset is greater than the positional offset threshold.
5. A position information generating apparatus comprising:
The delay determining unit is configured to determine the data delay of the sensor data according to the time stamp contained in the sensor data and the response time of the processor of the robot in response to receiving the sensor data sent by the sensor data processing end;
A positional deviation determining unit configured to determine a positional deviation of the robot based on the data delay and a running parameter of the robot;
a determining unit configured to determine whether the positional shift is less than or equal to a positional shift threshold;
And the generating unit is configured to generate position information of the object to be marked according to the sensor data in response to determining that the position deviation is smaller than or equal to the position deviation threshold value.
6. The apparatus of claim 5, wherein the apparatus further comprises:
And the labeling unit is configured to label the object to be labeled in the electronic map according to the position information.
7. The apparatus of claim 5, wherein the apparatus further comprises:
And the time service unit is configured to time the sensor data processing end in a target time period.
8. The apparatus of claim 5, wherein the apparatus further comprises:
And a discarding unit configured to discard the sensor data in response to determining that the positional offset is greater than the positional offset threshold.
9. A robot, comprising:
a sensor data processing end configured to send sensor data to the one or more processors;
one or more processors configured to implement the method of any of claims 1-4.
10. A computer readable medium having stored thereon a computer program, wherein the program when executed by a processor implements the method of any of claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210338945.9A CN114779256B (en) | 2022-04-01 | 2022-04-01 | Position information generation method, device, equipment and computer readable medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210338945.9A CN114779256B (en) | 2022-04-01 | 2022-04-01 | Position information generation method, device, equipment and computer readable medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114779256A CN114779256A (en) | 2022-07-22 |
| CN114779256B true CN114779256B (en) | 2024-09-20 |
Family
ID=82426634
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210338945.9A Active CN114779256B (en) | 2022-04-01 | 2022-04-01 | Position information generation method, device, equipment and computer readable medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114779256B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101232977A (en) * | 2005-08-01 | 2008-07-30 | 丰田自动车株式会社 | Robot control system |
| CN102216734A (en) * | 2008-11-21 | 2011-10-12 | 高通股份有限公司 | Wireless-based positioning adjustments using a motion sensor |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SG2013042890A (en) * | 2013-06-03 | 2015-01-29 | Ctrlworks Pte Ltd | Method and apparatus for offboard navigation of a robotic device |
| JP6817308B2 (en) * | 2015-12-24 | 2021-01-20 | エナージャス コーポレイション | Object detection systems and methods in wireless charging systems |
| CN108923876B (en) * | 2018-06-27 | 2020-11-27 | 北京旷视机器人技术有限公司 | Time synchronization method, device and system |
| WO2020107176A1 (en) * | 2018-11-26 | 2020-06-04 | 华为技术有限公司 | Obstacle detection method and device |
| CN110501013B (en) * | 2019-08-07 | 2023-09-05 | 腾讯科技（深圳）有限公司 | Position compensation method and device and electronic equipment |
| CN112418092B (en) * | 2020-11-23 | 2022-09-23 | 中国第一汽车股份有限公司 | Fusion method, device, equipment and storage medium for obstacle perception |
| CN112873209B (en) * | 2021-02-05 | 2022-04-15 | 深圳市普渡科技有限公司 | Positioning sensor time delay calibration method and device, computer equipment and storage medium |
| CN113267179B (en) * | 2021-05-17 | 2023-05-30 | 北京京东乾石科技有限公司 | Prompt information generation method and device, storage medium and electronic equipment |
-
2022
- 2022-04-01 CN CN202210338945.9A patent/CN114779256B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101232977A (en) * | 2005-08-01 | 2008-07-30 | 丰田自动车株式会社 | Robot control system |
| CN102216734A (en) * | 2008-11-21 | 2011-10-12 | 高通股份有限公司 | Wireless-based positioning adjustments using a motion sensor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114779256A (en) | 2022-07-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7038461B2 (en) | Methods and equipment for controlling unmanned vehicles and performing route verification | |
| CN112001287B (en) | Point cloud information generation method and device for obstacle, electronic equipment and medium | |
| CN111585682B (en) | Sensor time synchronization method and device and terminal equipment | |
| CN113992469B (en) | Data fusion method and device, electronic equipment and computer readable medium | |
| CN113674357B (en) | Camera external reference calibration method and device, electronic equipment and computer readable medium | |
| CN109871385B (en) | Method and apparatus for processing data | |
| CN113255619B (en) | Lane line recognition and positioning method, electronic device, and computer-readable medium | |
| CN109515444B (en) | Method and device for outputting driving performance index of unmanned automobile | |
| CN112598731B (en) | Vehicle positioning method and device, electronic equipment and computer readable medium | |
| CN114779256B (en) | Position information generation method, device, equipment and computer readable medium | |
| CN113129382B (en) | Method and device for determining coordinate conversion parameters | |
| CN112232451B (en) | Multi-sensor data fusion method and device, electronic equipment and medium | |
| CN112232326A (en) | Driving information generation method and device, electronic equipment and computer readable medium | |
| CN117042123A (en) | Rescue method and device based on base station position and computer readable storage medium | |
| CN109217959B (en) | Method, device and server for synchronizing time | |
| CN106959918B (en) | Method and apparatus for evaluating operations in a robotic operating system | |
| CN112668371B (en) | Method and device for outputting information | |
| CN114889590A (en) | Vehicle collision prediction method, device and equipment | |
| CN115534935A (en) | Vehicle running control method and device, electronic equipment and computer readable medium | |
| CN115061386A (en) | Intelligent driving automatic simulation test system and related equipment | |
| CN113780247A (en) | Traffic light detection method and device, electronic equipment and computer readable medium | |
| CN111325712B (en) | Method and device for detecting image validity | |
| WO2020140890A1 (en) | Data processing method and apparatus | |
| CN115848358B (en) | Vehicle parking method, device, electronic equipment and computer readable medium | |
| CN111401194A (en) | Data processing method and device for automatic driving vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |