Positioning method, device, robot and readable storage medium

Patent metadata

Field	Value
Publication number	US-12571876-B2
Application number	US-202318243644-A
Country	US
Kind code	B2
Filing date	Sep 7, 2023
Priority date	Nov 30, 2022
Publication date	Mar 10, 2026
Grant date	Mar 10, 2026

Abstract

The present disclosure provides a positioning method and device, a robot, and a readable storage medium. The method includes: acquiring a positioning parameter collected by each positioning module and an RSSI difference between positioning modules in each set, and determining a target positioning module based on positioning parameters collected by a set of positioning modules with a largest RSSI difference, to determine a relative positional relationship between the robot and a target device.

First claim

What is claimed is:

1 . A positioning method, performed by a robot, comprising:
acquiring, by a robot, a positioning parameter collected by at least one positioner, wherein the positioning parameter comprises a Received Signal Strength Indicator (RSSI), and a plurality of sets of positioners opposite to each other are provided around the robot, the robot is provided with the plurality of sets of the positioners, and the at least one positioner is provided with a directional antenna, and maintains an interactive connection with a target device based on the positioning parameter; acquiring, by the robot, an RSSI difference between positioners in at least one set of the plurality of sets of the positioners, and determining, by the robot, a target positioner based on positioning parameters collected by a set of the plurality of sets of the positioners with a largest RSSI difference; and determining, by the robot, a relative positional relationship between the robot and a target device to be positioned according to a positioning parameter collected by the target positioner.

2 . The method according to claim 1 , wherein determining the target positioner based on the positioning parameters collected by the set of the plurality of sets of the positioners with the largest RSSI difference comprises:
determining, as the target positioner, a positioner with a larger RSSI among the set of the plurality of sets of the positioners with the largest RSSI difference.

3 . The method according to claim 1 , wherein the positioning parameter further comprises an Angle Of Arrival (AOA) between a forward direction of the at least one positioner and the target device;
the method further comprises: determining a measurement range of the at least one positioner according to a comparison result between an AOA collected by the at least one positioner and an actual AOA, wherein: the measurement range represents an angle interval in which an error value between the AOA collected by the at least one positioner and the actual AOA is smaller than a preset error value.

4 . The method according to claim 3 , wherein determining the target positioner based on the positioning parameters collected by the set of the plurality of sets of the positioners with the largest RSSI difference comprises:
determining whether an AOA collected by a positioner with a larger RSSI among the set of the plurality of sets of the positioners with the largest RSSI difference is within the measurement range; in response to determining that the AOA is within the measurement range, determining, as the target positioner, the positioner with the larger RSSI among the set of the plurality of sets of the positioners with the largest RSSI difference; in response to determining that the AOA exceeds a left angle upper limit of the measurement range, determining, as the target positioner, a left positioner adjacent to the positioner with the larger RSSI among the set of the plurality of sets of the positioners with the largest RSSI difference; and in response to determining that the AOA exceeds a right angle upper limit of the measurement range, determining, as the target positioner, a right positioner adjacent to the positioner with the larger RSSI among the set of the plurality of sets of the positioners with the largest RSSI difference.

5 . The method according to claim 3 , further comprising:
determining a priority of the at least one set of the plurality of sets of the positioners based on a measurement range of the at least one set of the plurality of sets of the positioners; and wherein: determining the target positioner based on the positioning parameters collected by the set of the plurality of sets of the positioners with the largest RSSI difference comprises: determining a comparison result between an RSSI difference of a set of the plurality of sets of the positioners at at least one priority and a first threshold according to the at least one priority from high to low, until a set of the plurality of sets of the positioners whose RSSI difference is greater than the first threshold is determined; and determining the target positioner based on positioning parameters collected by the set of the plurality of sets of the positioners whose RSSI difference is greater than the first threshold.

6 . The method according to claim 5 , wherein the robot comprises a first positioner in front, a second positioner in rear, a third positioner on left and a fourth positioner on right;
the first positioner and the second positioner represent first priority positioners; and the third positioner and the fourth positioner represent second priority positioners.

7 . The method according to claim 6 , wherein the determining the comparison result between the RSSI difference of the set of the plurality of sets of the positioners at the at least one priority and the first threshold according to the at least one priority from high to low, until the set of the plurality of sets of the whose RSSI difference is greater than the first threshold is determined, and determining the target positioner based on the positioning parameters collected by the set of the plurality of sets of the positioners whose RSSI difference is greater than the first threshold comprises:
in response to determining that an RSSI difference between the first priority positioners is greater than the first threshold, determining the target positioner according to positioning parameters collected by the first positioner and the second positioner; or in response to determining that the RSSI difference between the first priority positioners is not greater than the first threshold, and an RSSI difference between the second priority positioners is greater than the first threshold, determining the target positioner according to positioning parameters collected by the third positioner and the fourth positioner.

8 . The method according to claim 5 , wherein in response to determining that the RSSI difference of the set of the plurality of sets of the positioners at the at least one priority is not greater than the first threshold, the method further comprises:
transmitting a ranging abnormality signal to a robot processor.

9 . The method according to claim 1 , wherein the at least one positioner comprises an Ultra-Wideband (UWB) module provided with the directional antenna.

10 . A robot, comprising:
a memory configured to store processor executable instructions; and a processor, configured to execute the processor executable instructions in the memory to implement: acquiring a positioning parameter collected by at least one positioner, wherein the positioning parameter comprises a Received Signal Strength Indicator (RSSI), and a plurality of sets of positioners opposite to each other are provided around the robot, the robot is provided with the plurality of sets of the positioners, and the at least one positioner is provided with a directional antenna, and maintains an interactive connection with a target device based on the positioning parameter; acquiring an RSSI difference between positioners in at least one set of the plurality of sets of the positioners, and determining a target positioner based on positioning parameters collected by a set of the plurality of sets of the positioners with a largest RSSI difference; and determining a relative positional relationship between the robot and a target device to be positioned according to a positioning parameter collected by the target positioner.

11 . The robot according to claim 10 , wherein the processor is further configured to:
determine, as the target positioner, a positioner with a larger RSSI among the set of the pluralit

Assignees

• Beijing Xiaomi Mobile Software Co Ltd

Inventors

• Jiang Xiaolei
• Kong Yaxu

Classifications

• G01S5/0264

  at least one of the systems being a non-radio wave positioning system · CPC title

• G01S5/0205

  Details · CPC title

• G01S5/02213

  Receivers arranged in a network for determining the position of a transmitter · CPC title

• G01S2205/01

  specially adapted for specific applications · CPC title

• G01S5/04

  Position of source determined by a plurality of spaced direction-finders · CPC title