CN-121994235-A - Repositioning method, electronic terminal and computer readable storage medium

Abstract

The application provides a repositioning method, an electronic terminal and a computer readable storage medium, wherein the repositioning method comprises the steps of controlling a target object to move in a preset area, and detecting the movement state of the target object by using a preset type sensor so as to generate a position detection instruction; the method comprises the steps of responding to a position detection instruction, obtaining coordinate information of a target object to obtain a coordinate information set of the target object, obtaining a point cloud data set based on the coordinate information set, and matching the point cloud data set with a preset map to determine the current position of the target object. The repositioning method can reposition when the robot is lost to be positioned.

Inventors

• TU SHUGUANG
• MA ZIANG
• CHEN YIBIN
• QIAN JIE

Assignees

• 杭州华橙软件技术有限公司

Dates

Publication Date

20260508

Application Date

20260122

Claims (10)

1. 1. A repositioning method, comprising: Controlling a target object to move in a preset area, and detecting the movement state of the target object by using a preset type sensor so as to generate a position detection instruction; Responding to the position detection instruction, acquiring coordinate information of a target object, and obtaining a coordinate information set of the target object; Obtaining a point cloud data set based on the coordinate information set; and matching the point cloud data set with a preset map so as to determine the current position of the target object.
2. 2. The method of claim 1, wherein controlling the movement of the target object within the preset area and detecting the movement state of the target object using a preset type sensor to generate the position detection instruction comprises: Controlling the target object to move in a preset area, and detecting the movement state of the target object by using a collision sensor; And generating the position detection instruction in response to collision of the target object.
3. 3. The method of claim 2, wherein controlling movement of the target object within the predetermined area comprises: Controlling the target object to move in the preset area based on a preset collision strategy or Detecting obstacles around the target object in the preset area, and controlling the target object to move towards the obstacles.
4. 4. The method of claim 1, wherein obtaining a set of point cloud data based on the set of coordinate information comprises: and calculating the pose of each coordinate information in the coordinate information set relative to reference coordinate information to obtain the point cloud data set, wherein the reference coordinate information is any coordinate information in the coordinate information set.
5. 5. The method of claim 1, wherein controlling the movement of the target object within the preset area and detecting the movement state of the target object using a preset type sensor to generate the position detection instruction comprises: controlling a target object to move in a first direction in a preset area, and detecting the movement state of the target object by using the preset type sensor; And responding to the motion abnormality of the target object, discarding the acquired coordinate information, controlling the target object to move in the preset area in the first direction or the second direction, and detecting the motion state of the target object by using the preset type sensor to generate the position detection instruction, wherein the first direction is opposite to the second direction.
6. 6. The method of claim 1, wherein matching the point cloud data set to a preset map to determine the current location of the target object comprises: Mapping the point cloud data in the point cloud data set to a target coordinate system to obtain position information under the target coordinate system, wherein the target coordinate system is the coordinate system of the preset map; And matching the position information with the preset map so as to determine the current position of the target object.
7. 7. The method of claim 1, wherein matching the point cloud data set to a preset map to determine the current location of the target object comprises: And responding to the failure of matching, returning to execute the steps of controlling the target object to move in a preset area, and detecting the movement state of the target object by using a preset type sensor so as to generate a position detection instruction.
8. 8. The method of claim 1, wherein the preset area comprises a traversed area when the target object performs a current task.
9. 9. An electronic terminal comprising a memory and a processor coupled to each other, the processor being configured to execute program instructions stored in the memory, the processor being configured to execute program data to implement the steps of the repositioning method according to any of claims 1-8.
10. 10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the repositioning method according to any of claims 1-8.

Description

Repositioning method, electronic terminal and computer readable storage medium Technical Field The present application relates to the field of navigation positioning technologies, and in particular, to a repositioning method, an electronic terminal, and a computer readable storage medium. Background Along with the rapid development of the robot industry, the intelligent development needs of robot products are met, and in the robot control, once the robot loses positioning, the robot cannot complete the intelligent task. Disclosure of Invention The application mainly solves the technical problem of providing a repositioning method, an electronic terminal and a computer readable storage medium. In order to solve the technical problems, the first technical scheme adopted by the application is to provide a repositioning method which comprises the following steps: Controlling the target object to move in a preset area, and detecting the movement state of the target object by using a preset type sensor so as to generate a position detection instruction; Responding to the position detection instruction, acquiring coordinate information of a target object, and obtaining a coordinate information set of the target object; Obtaining a point cloud data set based on the coordinate information set; and matching the point cloud data set with a preset map so as to determine the current position of the target object. In an embodiment, controlling the target object to move in the preset area and detecting the movement state of the target object by using the preset type sensor to generate the position detection instruction includes: controlling the target object to move in a preset area, and detecting the movement state of the target object by using a collision sensor; In response to a collision of the target object, a position detection instruction is generated. In an embodiment, controlling the movement of the target object within the preset area includes: controlling the movement of the target object in the preset area based on the preset collision strategy or Detecting obstacles around the target object in a preset area, and controlling the target object to move towards the obstacles. In an embodiment, obtaining a point cloud data set based on the coordinate information set includes: and calculating the pose of each coordinate information in the coordinate information set relative to the reference coordinate information to obtain a point cloud data set, wherein the reference coordinate information is any coordinate information in the coordinate information set. In an embodiment, controlling the target object to move in the preset area and detecting the movement state of the target object by using the preset type sensor to generate the position detection instruction includes: Controlling the target object to move in a first direction in a preset area, and detecting the movement state of the target object by using a preset type sensor; discarding the acquired coordinate information in response to the motion abnormality of the target object, controlling the target object to move in a first direction or a second direction in a preset area, and detecting the motion state of the target object by using a preset type sensor to generate a position detection instruction, wherein the first direction is opposite to the second direction. In an embodiment, matching the point cloud data set with a preset map, so as to determine the current position of the target object includes: Mapping the point cloud data in the point cloud data set to a target coordinate system to obtain position information under the target coordinate system; and matching the position information with a preset map so as to determine the current position of the target object. In an embodiment, matching the point cloud data set with a preset map to determine a current position of the target object includes: And responding to the failure of matching, returning to execute the steps of controlling the target object to move in a preset area and detecting the movement state of the target object by using a preset type sensor so as to generate a position detection instruction. In one embodiment, the preset area includes an area that has been traversed by the target object when performing the current task. In order to solve the technical problem, a second technical scheme adopted by the application is to provide an electronic terminal, wherein the electronic terminal comprises a memory and a processor which are mutually coupled, the processor is used for executing program instructions stored in the memory, and the processor is used for executing program data to realize the steps in the repositioning method. In order to solve the technical problem, a third technical scheme adopted by the application is to provide a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the steps in the repositioning method are realiz